Distributed Observer-based Cooperative Fault Tolerant Control for Multi-Agent Systems

This article investigates the cooperative fault-tolerant control problem for leader-follower multi-agent systems (MASs) with actuator faults. A type of distributed observer and fault estimator are constructed for each follower agent. By using the estimated state and fault information, the fault-tolerant control protocol is designed to guarantee cooperation of the MAS. It can be found that cooperation errors of all agents can converge to a predeterminate set around the origin under the proposed fault estimation and fault-tolerant control scheme. Finally, simulation results are utilized to verify the effectiveness of the approach in this paper.