Observer-Based Fault Estimation and Fault-Tolerant Control for Multi-Agent Systems against Multiple Time Delays

This paper focuses on the problem of fault estimation (FE) and fault-tolerant control (FTC) for Lipschitz nonlinear multi-agent systems (MASs) with multiple time-varying delays, actuator faults and exogenous disturbances. First, by utilizing the relative output estimation error and the output estimation error, the fault estimation observer is constructed to realize the estimation of MASs state variables and actuator faults at the same time. Second, the state feedback controller based on observer is designed to offset the influences of actuator faults and disturbances in system. Third, sufficient stability conditions for the designed observer and controller are proposed through linear matrix inequalities. Finally, a simulation example is given to verify the effectiveness of the proposed methods.