Distributed Adaptive Fault-Tolerant Consensus Control of Multi-Agent Systems with Actuator Faults



Mohsen Khalili Xiaodong Zhang Yongcan Cao Jonathan A. Muse


This paper presents an adaptive fault-tolerant control (FTC) scheme for leader-follower consensus control of uncertain mobile agents with actuator faults. A local FTC component is designed for each agent in the distributed system by using local measurements and certain information exchanged between neighboring agents. Each local FTC component consists of a fault detection module and a reconfigurable controller module comprised of a baseline controller and an adaptive fault-tolerant controller activated after fault detection. Under certain assumptions, the closed-loop system stability and leader-follower consensus properties of the distributed system are rigorously established. A simulation example is used to illustrate the effectiveness of the FTC method.

How to Cite

Khalili, M. ., Zhang, X. ., Cao, Y. ., & A. Muse, J. . (2015). Distributed Adaptive Fault-Tolerant Consensus Control of Multi-Agent Systems with Actuator Faults. Annual Conference of the PHM Society, 7(1). https://doi.org/10.36001/phmconf.2015.v7i1.2678
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fault-tolerant control, reconfigurable control, actuator fault, diagnosis, PHM

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