Fault-Tolerant Tracking Control for Heterogeneous Multi-Agent Systems

This paper focuses on the fault-tolerant tracking problem in networks of leader-following heterogeneous linear multi-agent systems. Firstly, a fault estimation observer is constructed to estimate simultaneously the actuator faults and the followers' states. Then, a fault-tolerant tracking controller is proposed. The latter is based on a dynamic internal reference for each agent and exploits the estimated faults. Thus, it is at first shown that the fault-tolerant tracking problem can be indirectly solved through the consensus tracking of the defined internal references. Then, a sufficient condition of consensus tracking for the internal references is proposed. Finally, a sufficient and necessary condition is derived for the fault-tolerant tracking control of linear heterogeneous multi-agent systems. The effectiveness of the proposed approach is illustrated with a numerical simulation.