Fault-tolerant Consensus Control Based on Fault Detection for Linear Multi-agent Systems
Xiayang Li, Jinzhi Wang, Qi Wang · 2018
This paper investigates the problem of fault-tolerant consensus control based on fault detection for linear multi-agent systems with actuator loss of effectiveness and additive faults. We have proposed distributed fault detection filters firstly. On this basis, we have designed distributed control protocols for healthy agents and switching control protocols for possibly faulty agents, respectively. The control protocols are fully distributed, under which the consensus error converges to zero. Finally, a simulation example is introduced to show the effectiveness of the control protocol.