Fault-Tolerant Finite-Time Consensus of Single-Integrator Multi-Agent Systems under Synchronous Self-Sensing Function Failure

Abstract

This paper focuses on fault-tolerant finite-time consensus problems of single-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 presented based on multi-hop communication technology together with agents subject to SSFF as routing nodes. Second, a fault-tolerant finite-time consensus protocol with time-varying gains is devised. Third, consensus convergence analysis is made by separately considering the dynamics of normal agents and ones subject to SSFF. It shows that single-integrator MASs applying the proposed strategy of recovering the network topology connectivity and fault-tolerant finite-time consensus protocol with the proper time-varying gains can reach finite-time consensus. Last, numerical simulations are given to illustrate the effectiveness of the theoretical results.