Distributed adaptive observers-based fault estimation for leader-following multi-agent linear uncertain systems with actuator faults

In this study, under the directed communication topology, distributed adaptive observers-based fault estimation is designed for leader-following multi-agent linear uncertain systems with actuator faults. Firstly, modeling uncertainties and external disturbances are considered, respectively. The proposed observers can estimate the faults of different agents in the presence of the uncertainties that appear in the state, input and output matrices. Then, based on the leader and followers' relative output estimation errors from the global perspective, the adaptive observer method is proposed which can be effectively solved using linear matrix inequalities (LMIs) technique. Moreover, the stability of the designed observers is proved. Finally, simulation results of quadrotor attitude systems validate the efficiency of the proposed observers-based fault estimation algorithm.