Research on fault-tolerant consensus of heterogeneous multi-agent systems based on adaptive robust sliding mode observer

The fault-tolerant consensus control for heterogeneous multi-agent systems with actuator faults and external disturbances is studied in this paper. Firstly, considering the unknown actuator fault information and the influence of external disturbance on the observer, a robust sliding mode observer with adaptive laws modification was proposed to realize the actuator fault reconstruction. Secondly, a fault-tolerant controller is designed based on the reconstructed values obtained from the adaptive robust sliding mode observer, and the original heterogeneous complex dynamic high-dimensional system is converted into two low-dimensional closed-loop error systems by decoupling method. Furthermore, Lyapunov and Ricatti theories are used to obtain the controller gain solution method. Finally, a simulation experiment of fault-tolerant consensus control for heterogeneous multi-agent systems is carried out with one leading agent and four following agents, and the effectiveness and feasibility of the proposed method are verified.