Adaptive Leaderless Consensus for a Class of Uncertain Nonlinear Systems with Intermittent Actuator Faults

Abstract

This paper investigates the leaderless consensus problem for high-order nonlinear systems with unmatched unknown parameters and intermittent actuator faults. Under directed topology condition, a novel adaptive fault tolerant leaderless consensus control scheme is proposed. In order to achieve the leaderless consensus under directed topology condition, an auxiliary system, which is related to the individual states and neighboring states, is introduced in each agent. On the other hand, to compensate the effect of intermittent actuator faults on the system stability of each agent, a local parameter estimator is introduced to estimate a lumped unknown parameter related to the lower bound of the effectiveness of actuator. It is shown that with the proposed adaptive fault tolerant leaderless consensus control scheme, all the closed-loop signals are globally uniformly bounded and all the agents’ outputs can reach a consensus.