Distributed Adaptive Fault-Tolerant Control of Leader-Following Multi-Agent Systems with Unmatched Uncertainties

This paper consider the distributed fault-tolerant tracking control problem for linear multi-agent systems with unmatched parameter uncertainties, external disturbances and actuator faults. The considered time-varying actuator fault includes loss of effectiveness, outage and stuck. For the case where the communication graph is undirected and connected, a new distributed fault-tolerant control scheme is proposed. Based on the local state information of neighboring agents, the controller gains are adjusted online according to a designed adaptive mechanism to compensate the effects of actuator faults, external disturbances and mismatched parameter uncertainties on systems. Moreover, on the basis of Lyapunov stability theory, it is proved that all the signals of the closed-loop are bounded and all follower nodes asymptotically tracking to the leader. Finally, an example is included to show the effectiveness of the obtained theoretical results.