Second-Order Consensus for Heterogeneous Nonlinear Multi-Agent Systems with Actuator Faults and External Disturbances

This paper investigates the second-order consensus for multi-agent systems (MASs) with nonidentical nonlinearities and bounded external disturbances under actuator fault condition. By combining a healthy control protocol and fault severity estimation, an active fault-tolerant method for solving the MASs’ consensus problem under actuator fault condition is developed. If the algebraic connectivity meets the requirement and the fault severity estimation error is less than the computed threshold, the fault-tolerant consensus can be achieved. Finally, the time-delayed Chua’s oscillator is employed in the simulation to illustrate the effectiveness of the proposed control protocols.