Hybrid finite-time fault-tolerant consensus control of non-linear fractional order multi-agent systems based on fault detection and estimation

This paper addresses the problem of achieving finite-time fault-tolerant consensus control for a class of non-linear fractional-order multi-agent systems (NFO-MAS) using finite-time fault detection and estimation, as well as a finite-time state observer. To achieve this, a specific lemma is utilized to rewrite the high-order model of NFO-MAS as a lower-order NFO unique system. By employing new identification rules and introducing a fault estimation method, both the state variables and faults of the agents are estimated within a finite time. Subsequently, a finite-time sliding mode control law is designed based on the estimated fault and the state variables obtained from the proposed finite-time observer to achieve consensus within a finite time for the fractional-order non-linear MAS. The stability of the fault estimation, state observer, and consensus controller is proven using the finite-time Lyapunov theory. The effectiveness of the proposed approach is demonstrated through numerical simulations.