Fault-tolerant tracking control for a class of nonlinear multi-agent systems

This paper investigates the fault-tolerant tracking control problem for a class of leader-follower non-linear multi-agent systems with actuator faults and directed communication topology. Time-varying loss of actuator effectiveness faults and actuator bias faults are taken into consideration. By selecting a novel Lyapunov function skillfully, a fully distributed adaptive fault-tolerant tracking consensus protocol is proposed for each follower to track with the state of the leader. A simulation example is presented to illustrate the effectiveness of the proposed fault-tolerant tracking consensus protocol. (C) 2019 Elsevier B.V. All rights reserved.