Fault‐tolerant consensus for switched multiagent systems with input saturation

Abstract

AbstractThis article investigates the fault‐tolerant consensus problem for switched multiagent systems with input saturation. Actuator faults including partial loss of effectiveness, outage, bias, and stuck are all considered in switched general linear systems. By utilizing the adaptive projection algorithm, low gain feedback theory, and average dwell time method, novel saturated consensus protocols are designed for both fixed and switching topologies with local information of neighboring agents. It is proven that the fault‐tolerant consensus problem can be solved with the proposed protocols in both leader‐following case and leaderless case. The innovation of this article lies not only in the fact that actuator faults, switched dynamics, and input saturation are simultaneously considered, but also in the fact that a novel modified low‐and‐high gain feedback approach is introduced to deal with various types of actuator faults. Finally, two numerical examples are given to validate the effectiveness of the theoretical results.