Robust fault-tolerant cooperative control of multi-agent systems with actuator faults

This work investigates the cooperative controller design problem for multi-agent systems in the presence of actuator failures. We first provide an actuator fault detection algorithm. Then, a robust fault-tolerant protocol is presented to achieve the synchronization and tracking control of multi-agent systems. The controllers are locally distributed in the sense that the controller designed for each agent only requires the information of itself and its neighbors. The loss of symmetry in the digraph Laplacian matrix is also considered. Numerical simulation results are presented to show the effectiveness of the proposed robust control.