Distributed fault tolerant control and estimation for leader-follower consensus of multi-agent systems with actuator faults

Leader-follower consensus tracking problem in multi-agent systems in the presence of some types of faults named actuator faults are considered in this paper. Distributed control theory has been used to develop control strategy and main challenge of this paper is to design fault tolerant control (FTC) system based on fault estimation to minimize the effects of the actuator faults. For this issue, an appropriate luenberger type fault detection filter is used to detect the occurance of the fault. Fault estimations are obtained by recursive least square (RLS) method and using virtual actuator technique, the effects of faults are minimized and it is shown that the tracking error of each agent converges to zero in fault-free case and the tracking error remains bounded in faulty case. The effectiveness of our method has been verified through simulations.