Distributed fault-tolerant consensus control for uncertain nonlinear multi-agent systems

Abstract

This paper investigates a distributed fault-tolerant consensus control problem for a class of uncertain nonlinear multi-agent systems with actuator faults and process faults. Most of the existing works about tolerant control for multi-agent systems solely consider actuator faults. Different from the works, the proposed faults in this paper are more comprehensive subjecting to both actuator faults and process faults. For the un-certain nonlinear term, we propose a less conservative Lipschitz condition. Based on the Lyapunov stability theory, it is proved strictly that the proposed controllers make the followers reach consensus with the leader. Finally, a simulation example is given to verify the effectiveness of the theoretical result.