Fault-tolerant consensus for non-linear leader-follower multi-agent systems
Xiayang Li, Qi Wang, Jinzhi Wang · 2017
This paper investigates the problem of fault-tolerant tracking control for a class of leader-follower multi-agent systems with actuator loss of effectiveness and addictive faults. The communication graph among followers is undirected, yet the communication between leader and follower is directed. A fully distributed adaptive fault-tolerant consensus protocol is proposed, under which the consensus error converges to zero, asymptotically. Finally, a simulation example is introduced to verify the effectiveness of the control protocol.