Fault-tolerant fully distributed leader-following consensus for linear multi-agent systems with non-cooperative leader

Abstract

In this paper, the problem of distributed fault-tolerant control for multi-agent systems is studied. In the proposed method, the communication graph of the network is not needed to be known by the agents. The leader agent is active with a bounded non-zero control input. The control input of the leader and its bound is not known by any follower. Moreover, it is assumed that the leader is non-cooperative and does not communicate with any other agent. By considering all these limitations, the control input of the followers are designed such that the followers can track the leader in the presence of bounded additive actuator faults. A numerical simulation is provided to illustrate the effectiveness of the proposed approach.