Cooperative Fault-Tolerant Output Regulation of Linear Heterogeneous Multiagent Systems Under Directed Network Topology

The cooperative fault-tolerant output regulation problem of linear heterogeneous multiagent systems with actuator faults under directed network topology is addressed in this article. By introducing a time-varying gain and by using a modification technique, fully distributed observers without utilizing any global information are designed to estimate the state of the exosystem. Specifically, the time-varying gain is introduced to estimate the global information, and the modification technique is leveraged to avoid the strictly increasing behaviors of the time-varying gains. Besides, a new fault-tolerant controller is developed to compensate for actuator faults under directed network topology. Moreover, it is proven that the developed method is effective to solve the considered problem by the Lyapunov stability theory. Compared with the existing cooperative fault-tolerant output regulation results, the more general directed network topology is considered in this article. Finally, an illustrative example is used to demonstrate the effectiveness and efficiency of the developed method.