DISTRIBUTED CONSENSUS OF MULTI-AGENT SYSTEMS WITH INPUT FAULTS AND TIME-VARYING DELAYS

This work studies the consensus problem of multi-agent systems with input faults and time-varying delays. The assumed faults in the system are loss of effectiveness of actuator and nonlinear additive term mixed with nominal input. For system faults that are nonlinear, constraints of constant norm-bounded, sector nonlinearity, and unbounded nonlinearity with known basis functions are considered. Employing a Lyapunov-Krasovskii functional method, delay dependent consensus criteria are established to show the exponential behavior of the system. Finally, one simulation example is solved to demonstrate the advantage of the obtained results.