OBSERVER-BASED MULTI-AGENT SYSTEM FAULT UPPER BOUND ESTIMATION AND FAULT-TOLERANT CONSENSUS CONTROL

This paper investigates the consistency of multi-agent system with actuator fault. By constructing an appropriate observer, an adaptive algorithm for the upper bound of actuator fault factor is proposed. Subsequently, a fault-tolerant control law was proposed by using the relative state information between agents and the estimated value of the fault upper bound. Moreover, by the related theory of Lyapunov, we prove the theoretical feasibility of the algorithm in realizing the consistency of multi-agent system with actuator fault and external disturbance. Finally, a numerical simulation example verifies the effectiveness of the proposed algorithm and a comparative experiment demonstrates the superiority of the proposed algorithm.