Hybrid Fault-tolerant Cooperative Control for a Class of Non-linear Heterogeneous Clustered Multi-agent Systems

This study explores Hybrid Fault-Tolerant Cooperative Control (HFTCC) approach for managing actuator faults in non-linear multi-agent systems (MASs) with heterogeneous cluster dynamics. By integrating passive and active Fault-Tolerant Control (FTC), the methodology combines real-time fault monitoring using robust Unknown Input Observers (UIOs) and adaptive control adjustments via pole placement. The UIO partially decouples external disturbances and leverages an H_∞-based approach to further mitigate their effects. To optimize computational efficiency in clustered MASs, each agent's observer estimates its own and neighboring agents' states and faults. Simulations validate the effectiveness of HFTCC, demonstrating a 48.76% reduction in maximum error, a 61.55% decrease in root mean square error (RMSE), and significant improvements in convergence time compared to passive FTC alone.