Observer-Based Resilient Control for Nonlinear Multi-Agent Systems Against Communication Link Faults

This paper proposes a distributed resilient control scheme based on an adaptive observer for nonlinear multi-agent systems (MAS) under the communication link faults. In specific, this scheme is structured on a hierarchical control framework consisting of the computation layer and the motion control layer. The existing adaptive observer at the computation layer is extended to accommodate a class of nonlinear systems, and a general decentralized tracking controller at the motion control layer is designed to accomplish the tracking task of agents. In addition, the resilience of the proposed scheme for nonlinear MAS is demonstrated through mathematical derivation. Finally, numerical simulation results are presented to support the validity of theoretical conclusions.