Observer-Based Fault-Tolerant Control for Nonlinear Multi-agent Systems in Finite Frequency Domain

In this paper, a fault-tolerant controller is designed for a class of nonlinear multi-agent systems with actuator faults in the finite frequency domain. First, the observer is designed to estimate the value of the state variables. Then, based on the estimated results of the state observer, a robust consensus control protocol is designed. The protocol ensures the external disturbances suppression performance index and the state consensus in the case of fault occurs. The effectiveness of the control protocol is proved in the finite frequency domain. Finally, the simulation results are shown to demonstrate the effectiveness of the consensus control protocol.