Distributed Control Method for Heterogeneous Multiagent Systems Subjected to Faults

This paper investigates distributed control of a heterogeneous MAS with unknown disturbances, actuator saturations and sensor faults connected through a directed graph. The RBFNNs have been employed to estimate the uncertain nonlinear functions and design the nonlinear disturbance observer. The distributed controller is designed to stir the followers to follower the leader with very small tracking errors. The stability of the closed loop system has been guaranteed with the aid of a Lyapunov function. Finally, a simulation example has been provided to illustrate the effectiveness of the presented method.