Robust fault-tolerant consensus for two time-scales agent systems with sensor faults

This paper studies the fault-tolerant consensus problem of a novel class of multi-agent systems with sensor faults and unknown disturbances, in which each agent is represented by two time-scales system. A decentralized observer is proposed to simultaneously estimate the fault and agent’s states. Then, an observer-based distributed protocol is designed to ensure the consensus of the underlying systems. Sufficient conditions for the existence of the proposed observer and consensus protocol are derived in terms of linear matrix inequalities (LMIs). A numerical example demonstrates the effectiveness of the proposed method.