Research on Reliability Control for Nonlinear Multi-Agent Systems with Time Delays

This paper addresses the robust consensus reliable control problem with time delays, actuator defects, and external disturbances for Lipschitz nonlinear multi-agent systems (MASs) is discussed. First, a general fault model is established, and an observer is designed to estimate the state information. Second, the reliable control protocol is obtained by using this estimation information to achieve robust and reliable control. Using this protocol, the actuator faults is resolved and the influence of time delays and disturbance on nonlinear system is reduced. Third, using linear matrix inequality, adequate robustness conditions are suggested for the control protocol and observer design. Finally, two distinct actuator fault cases are used to confirm the validity of the control protocol.