Finite-Horizon H∞ Fault-Tolerant Constrained Consensus for Multiagent Systems With Communication Delays

This article focuses on the fault-tolerant constrained consensus problem for multiagent systems with communication delays. The communication graphs are first assumed to be directed and fixed. Then, a novel delay-dependent fault-tolerant controller is designed such that, in the presence of communication delays and randomly occurring actuator failures, the influence of the projections and the initial states on the closed-loop system can be attenuated with a prespecified level. Based on the provided performance requirement, the initial state of each agent does not need to be identical. The proposed control algorithms ensure that sufficient conditions are met for the fault-tolerant constrained consensus to be achieved according to the prespecified performance index. After this, the controller gains are computed by employing an iterative linear matrix inequality scheme. Finally, a numerical example is provided to show the effectiveness of the proposed method.