Fault-Tolerant Consensus of Single-Integrator Multi-Agent Systems under Synchronous Self-Sensing Function Failure

This paper investigates fault-tolerant consensus of single-integrator multi-agent systems (MASs) with partial agents subject to synchronous self-sensing function failure (SSFF). First, a strategy of recovering the connectivity of network topology among normal agents is proposed via multi-hop communication together with agents subject to SSFF as routing nodes. Second, a fault-tolerant consensus protocol with time-varying gains is designed. Then, consensus convergence is analyzed by separately investigating the dynamics of normal agents and agents subject to SSFF. It is proved that under proper time-varying gains, single-integrator MASs using the proposed strategy of recovering the connectivity of network topology and fault-tolerant consensus protocol can achieve consensus. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.