Domination Control of Heterogeneous Uncertain Multi-agent Systems with Sensor Faults under Directed Communication Graphs

Distributed control for heterogeneous multi-agent systems (MAS) under senor faults and time-varying control coefficients with directed communication graphs is investigated. Firstly, a novel type of functions named domination functions is introduced, and the global boundedness of MAS with time-varying control coefficients under directed communication graphs is achieved. Secondly, in view of domination function-based distributed controller, the problem of MAS with sensor faults is solved by simple distributed controllers in the sense that no time derivatives of system states or nonlinearities are involved in the controller. Thirdly, a guideline is provided for designing domination functions such that the system nonlinearities and their bound functions are allowed to be unknown.