Output Feedback Fault-Tolerant Control of Heterogeneous Multi-Agent Systems

Abstract

This paper investigates the design of an output feedback fault-tolerant control (FTC) scheme for heterogeneous multi-agent systems subject to loss of effectiveness and time-varying additive actuator faults as well as external disturbances. The main aim of the proposed FTC approach is to maintain the behavior of a multi-agent system after the occurrence of faults and external disturbances similar to the desired healthy and undisturbed one. The proposed FTC scheme does not depend on the implemented mission of the multi-agent systems and it can be easily augmented to the existing nominal controller of each agent. Simulation results corresponding to a team of AUVs demonstrate and illustrate the effectiveness of our proposed FTC scheme.