Distributed Optimization of Disturbed Nonlinear Multi-Agent Systems via Adaptive Fault-Tolerant Output Regulation

This brief considers a distributed fault-tolerant optimization problem of disturbed nonlinear multi-agent systems, which is converted to an output regulation issue of tracking an exosystem with unknown states. To solve this problem, a new adaptive fault-tolerant controller including exponential terms is yielded, with giving two fundamental design conditions of the exosystem state observer to achieve asymptotic or exponential convergence and compensate for unbounded external disturbances. The proposed exosystem observer-based adaptive fault-tolerant output regulation approach supplies a common distributed optimization or cooperative control framework for faulty nonlinear multi-agent systems. A simulation example is presented to verify the effectiveness.