Fault-Tolerant Control of Multi-Agent Systems With Saturation and ${L_{2}}$ -Disturbances

This paper studies the fault-tolerant tracking consistency problem of multi-agent systems with actuator faults and saturation and L
₂
disturbance. Firstly, a new index is given to describe the anti-disturbance ability and H
_∞
performance of the multi-agent system. In addition, a new method of designing adaptive fault-tolerant controller is given for multi-agent systems which can guarantee that the closed-loop systems H performance and disturbance tolerance performance are better than the fixed gains method. For this new method, by using the adaptive law, the controller parameters are updated on-line to compensate for the fault effects on multi-agent systems. The results show that the adaptive controller designed can achieve system consistency and better performance in the case of multi-agent system with actuator failure, saturation and L
₂
disturbance. An example illustrating the validity of the results is given.