Fault Tolerant Consensus of Multi-Agent Systems with Linear Dynamics

Abstract EN

This paper deals with the consensus problem of linear multi-agent systems with actuator faults.

A fault estimator based consensus protocol is provided, together with a convergence analysis.

It is shown that the consensus errors of all agents will converge to a small set around the origin, if parameters in the consensus protocol are properly chosen.

A numerical example is given to illustrate the effectiveness of the proposed protocol.