Abstract
AbstractDistributed consensus fault-tolerant control for nonlinear heterogeneous multi-agent systems under communication faults is considered in this work. A finite-time state observer is designed with the distributed synchronization errors to estimate the real expected states when communication failure occurs. Then a fast terminal sliding mode fault-tolerant strategy without singularity is designed based on the estimated values, which enables the follower agents to quickly trace the virtual leader’s position and velocity. Finally, mathematical simulation is carried out to verify its validity.KeywordsHeterogeneous multi-agent systemsCommunication faultsDistributed controlNon-singular fast terminal sliding mode
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