Second-Order Consensus for Heterogeneous Nonlinear Multi-agent Systems with Actuator Faults

Abstract

In this paper, the consensus problem of heterogenous nonlinear multi-agent systems containing actuator faults is settled. The communication topology of the MAS is assumed to be a strongly connected digraph. A concept about the generalized algebraic connectivity is applied to illustrate the systems’ ability to achieve second-order consensus. On the basis of matrix theory, algebraic graph theory and Lyapunov stability criterion, sufficient conditions for fault-tolerant consensus of heterogeneous nonlinear multi-agent systems suffering from actuator faults are obtained. Ultimately, simple numerical simulation experiments are performed to prove the theoretical results.