Observer-based output feedback H ∞ fault-tolerant consensus for a class of leader–follower multi-agent systems subject to actuator faults
Yuchen Zhang, Libing Wu · International Journal of Systems Science · 2025
This article researches the output feedback fault-tolerant consensus tracking issue for a class of linear multi-agent systems (MASs) with faults and disturbances over directed topology. To tackle the bi-directional uncertainty problem caused by the model mismatch, a modified integrated control method is presented. An additional integral term is introduced to improve the estimation accuracy. To overcome restricted information access, a cooperative observer is established to monitor the leader state, and the H∞-based adaptive observer is employed to estimate the follower states as well as the fault signals. By using H∞ control, linear matrix inequalities (LMIs) approach, and Lyapunov stability analysis, a fault-tolerant controller is developed. The proposed scheme guarantees the system achieves consensus tracking with a disturbance attenuation level. Less conservative sufficient conditions on the LMIs are derived. Finally, simulation results illustrate the validity of the designed method.