Distributed adaptive fault-tolerant consensus control of multi-agent systems with actuator faults

Abstract

This paper presents an adaptive fault-tolerant control (FTC) scheme for leader-follower consensus control of uncertain mobile agents with actuator faults. A local FTC component is designed for each agent in the distributed system by using local measurements and certain information exchanged between neighboring agents. Each local FTC component consists of a fault detection module and a reconfigurable controller module comprised of a baseline controller and an adaptive fault-tolerant controller activated after fault detection. Under certain assumptions, the closed-loop system stability and leader-follower consensus properties of the distributed system are rigorously established. A simulation example is used to illustrate the effectiveness of the FTC method.