Observer-based fault tolerant consensus of linear multi-agent systems

This paper considers the consensus problem of linear multi-agent systems with actuator fault. The communication topology is undirected graph. First, an observer is designed to estimate each agent´s states and inputs. Based on the general faulty agent model and the observer´s states, we then propose fault tolerant control protocol and the corresponding conditions to achieve consensus. Finally, numerical examples are given to illustrate the theoretical results.