Fault-Tolerant Dynamical Consensus of Double-Integrator Multi-agent Systems with Partial Agents Subject to Synchronous Self-Sensing Function Failure

Abstract

This paper studies fault-tolerant dynamical consensus problems of double-integrator multi-agent systems (MASs) with partial agents subject to synchronous self-sensing function failure (SSFF). First, a strategy of recovering the connectivity of network topology among normal agents is proposed via multi-hop communication. Second, a fault-tolerant dynamical consensus protocol with time-varying gains is proposed. Third, consensus convergence analysis is made by separately investigating the dynamics of normal agents and ones subject to SSFF. It turns out that double-integrator MASs using the proposed strategy of recovering the connectivity of network topology and fault-tolerant dynamical consensus protocol with proper time-varying gains can reach dynamical consensus. Finally, numerical simulations illustrate the effectiveness of the theoretical results.