A Distributed Hybrid Fault-Tolerant Cooperative Control for Multi- Agent Systems with Actuator Faults and Disturbances

This research investigates the concept of Hybrid Fault-Tolerant Cooperative Control (HFTCC), an innovative approach merging passive and active Fault-Tolerant Control (FTC). The study aims to effectively address simultaneous actuator faults within linear Multi-Agent Systems (MASs) operating within a directed communication graph and dealing with external disturbances. Using a robust Unknown Input Observer (UIO) as the initial step allows for obtaining precise insights into fault behavior, constituting the passive aspect of HFTCC. Subsequently, the active component of HFTCC is deployed to adapt the control logic, accommodating the identified fault within the system. Simultaneously, the UIO can decouple and mitigate the impact of external disturbances on the fault diagnosis process. The efficacy of the proposed robust observer performance is explained within the framework of the H
∞
approach. The simulation results, exemplifying the application of HFTCC for MASs, are presented and discussed. A notable decrease in error is observed when comparing the outcomes of the proposed method with those of passive FTC.