Fully Distributed Fault-Tolerant Leaderless Consensus of Multi-Agent Systems Under Directed Communication Graph

This paper investigates a fault-tolerant leaderless consensus problem for general linear multi-agent systems (MASs) under a strongly connected directed communication graph. The influences of the actuator bias faults and loss of actuator effectiveness faults on MASs are considered in this paper. The designed fully distributed adaptive fault-tolerant consensus protocols (FTCPs) can make all agents' states achieve consensus, asymptotically. Using the features of the loss of actuator effectiveness faults and the strongly connected graph, novel positive definite Lyapunov functions are constructed skillfully to analyse the validity of the proposed protocols. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed protocols.