Observer-Based Fault Estimation and Fault-Tolerant Control for Heterogeneous Multi-Agent Systems

This paper focuses on discussing in heterogeneous multi-agent systems during actuator faults. First, a fault detection observer is designed using relative output estimation error and output estimation error to identify faults in the actuators. Second, using state observer and output feedback methods, a fault-tolerant controller is developed to ensure system stability in case of actuator faults. Simulation examples are provided finally to demonstrate the effectiveness of the proposed design methods.