Abstract

This article investigates the distributed active fault-tolerant cooperative control problem for leader-follower multiagent systems (MASs) in the presence of multiple faults, communication delays, and external disturbances. A new distributed consensus protocol is put forward to ensure the state consensus of MASs, which can be served as a nominal controller in fault-free cases with communication delays and external disturbances. A novel distributed time-delay intermediate observer, which can estimate system states and multiple faults simultaneously, is derived based on the time-delay closed-loop system equation. By integrating a fault compensation mechanism into the nominal controller, a distributed active fault-tolerant consensus controller is constructed for the follower agents to eliminate the adverse effects of multiple faults. Simulation examples are provided to demonstrate the effectiveness of the proposed method.

Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call