Observer-Based H∞ Fault-Tolerant Tracking Control of Multi-Agent Systems With Nonideal Communication Links and External Disturbances

This paper studies the problem of robust $H_{\infty } $ active fault-tolerant tracking control for multi-agent systems (MASs) under nonideal communication links and external disturbances. Unlike most existing studies that assume idealized or simplified communication links, such as uniform constant or time-varying delays, this paper considers a more realistic communication scenario involving non-uniform time-varying communication delays. The communication cases discussed encompass existing common communication scenarios as special cases. To achieve active fault-tolerant control, an intermediate variable-assisted proportional-integral observer (PIO) is introduced to estimate the system’s state and faults. Based on fault estimation values and considering non-ideal communication constraints, a fault-tolerant control scheme is designed to achieve the leader-follower tracking control objectives. With the help of Lyapunov theory and matrix inequality method, sufficient criteria are proposed for co-designing the observer and controller gains. Finally, two simulation examples verify the effectiveness of the theoretical results. Note to Practitioners—Multi-agent systems have been widely applied in fields such as autonomous vehicle platooning, distributed robotics, and smart grids. Their exceptional coordination capabilities and flexibility make them an ideal choice for performing complex tasks. However, these systems rely on network communications and often face communication delays and external disturbances, posing significant challenges to the control system, especially when a fault occurs that may cause the system to lose stability. Therefore, it is particularly important to carry out active fault-tolerant control in the case of nonideal communication conditions, which can maintain the normal operation of the system and provide compensation in time when faults occur to ensure the robustness and stability of the system. The observer-based active fault-tolerant control method designed in this article offers a practical solution for multi-agent systems that require high-reliability control in complex communication environments.