Fault-tolerant tracking control for a class of nonlinear multi-agent systems

Abstract This paper investigates the fault-tolerant tracking control problem for a class of leader–follower nonlinear multi-agent systems with actuator faults and directed communication topology. Time-varyingloss of actuator effectiveness faults and actuator bias faults are taken into consideration. By selecting a novel Lyapunov function skillfully, a fully distributed adaptive fault-tolerant tracking consensus protocol is proposed for each follower to track with the state of the leader. A simulation example is presented to illustrate the effectiveness of the proposed fault-tolerant tracking consensus protocol.

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