Distributed Adaptive Fault‐Tolerant Consensus Control for Nonlinear Multi‐Agent System With Input Saturation and Multiple Sensor Faults
Xinnan Zhang, Jianchang Liu, Honghai Wang, Yuanchao Liu, Fan Sun, Wanting Yang · International Journal of Adaptive Control and Signal Processing · 2025
ABSTRACT Distributed adaptive fault‐tolerant consensus control (FTCC) enables nonlinear multi‐agent systems (NMASs) to achieve control tasks with expected or slightly reduced performance metrics in the presence of faults in certain components. When dealing with NMASs under sensor faults and input saturation, the control design becomes extremely challenging. Therefore, this paper proposes a novel distributed adaptive FTCC method for a class of strict‐feedback NMASs with multiple sensor failures and input saturation. First, to surmount the obstacles presented by multiple sensor failures, a novel constructive design approach combining parameter separation and function recombination is proposed. Then, to tackle the challenges encountered in the design process of the derivative of the virtual control law (VCL), a first‐order filter (FOF) is introduced. Furthermore, to alleviate the repercussions caused by input saturation in the system, an auxiliary system is employed to offset the variation between saturated and designed control inputs. Combining the improved backstepping design technique, an adaptive state feedback controller is recursively developed. It has been verified that all signals within the closed‐loop NMASs remain bounded, and the output consensus errors converge to an arbitrarily small vicinity of the origin. Finally, simulation experiments validate the efficacy of the proposed controller.