Cooperative Fault-Tolerant Control for Linear Delay Multi-Agent Systems Based on Output Regulation

This paper addresses the fault tolerant output consensus problem in continuous time linear delay multi-agent systems (MASs) with directed graphs and actuator faults. First, a distributed state and fault estimator is developed to simultaneously estimate the state and fault of the follower by utilizing local neighbor errors. Second, a distributed leader observer is designed to estimate the tracking signal generated by the leader. Third, an innovative output feedback fault-tolerant control strategy is proposed by introducing fault observer and leader observer and combining with the output regulation principle and the manuscript establishes adequate conditions for the existence of both the estimator and controller. Subsequently, the proposed method effectiveness is confirmed through numerical and simulation examples.