Semi-Global Consensus Control for Multi-Agent Systems Subject to Actuator Saturations and Faults
Chen Gao, Xiao Yang He · 2020
We address the fault-tolerant consensus control problem for leader-follower multi-agent systems (MASs) in the presence of actuator saturations and faults. Specifically, we focus on the neutrally stable systems and design a kind of semiglobal consensus controller, which can tolerate both additive and multiplicative actuator faults. In the absence of the additive fault, the MAS can reach semi-global consensus asymptotically. When confronted with the additive fault, whose magnitude is supposed to be bounded, the MAS can reach L∞-consensus in the sense of bounded magnitude.