Observer-Based Fault Tolerant Control for a Class of Nonlinear Multi-Agent Systems with Sensor Fault

This paper investigates fault tolerant control problem for a class of nonlinear multi-agent systems. First, an adaptive fault estimation observer is designed to estimate the immeasurable state values and sensor fault values. Second, an dynamic output feedback controller based on observer is used to eliminate the influences of disturbances and sensor faults on system. To obtain the robust
$H$
∞ conditions of observer and controller, the linear matrix inequality technique is applied to solve the nonconvexity problem. At last, the effectiveness of observer and controller is verified by one example.