Disturbance Rejection Adaptive Fault-Tolerant Constrained Consensus for Multi-Agent Systems With Failures
Jianning Li, Xiao Liu, Xinfeng Ru, Xiaobin Xu
Abstract
In this paper, the disturbance rejection adaptive fault-tolerant constrained consensus problem of multi-agent with actuator failures is investigated. At first, an auxiliary variable based observer is designed to estimate the disturbance. Then, based on the estimated disturbance, an adaptive law is provided for partial failures. In order to avoid the zero initial condition in the traditional $H_{\infty }$ control approach, a novel performance function is constructed with the considered initial condition. After this, a disturbance rejection adaptive fault-tolerant constrained consensus algorithm is given with the performance requirement. Finally, a simulation example is provided to illustrate the effectiveness of the proposed method.