Semi-Global Consensus Control for Multi-Agent Systems Subject to Actuator Saturations and Faults

Abstract

We address the fault-tolerant consensus control problem for leader-follower multi-agent systems (MASs) in the presence of actuator saturations and faults. Specifically, we focus on the neutrally stable systems and design a kind of semiglobal consensus controller, which can tolerate both additive and multiplicative actuator faults. In the absence of the additive fault, the MAS can reach semi-global consensus asymptotically. When confronted with the additive fault, whose magnitude is supposed to be bounded, the MAS can reach $L_{\infty}$ -consensus in the sense of bounded magnitude.