Leader-Following $H_{\infty}$ Fault-Tolerant Consensus of Nonlinear Multi-agent Systems with External Disturbances

This paper presents an active robust fault-tolerant consensus control of nonlinear Multi-Agent Systems (MASs) with external disturbances. It is assumed that the states of the follower agents are not available for measurement. Moreover, they might be simultaneously subjected to multiplicative actuator faults. Therefore, an integrated design and analysis of an observer-based fault estimation and fault-tolerant cooperative control schemes will be proposed. In this regard, a fuzzy wavelet neural network is introduced in order to approximate the unknown time-varying multiplicative fault function. Further, a decentralized robust
$H_{\infty}$
fault-tolerant consensus protocol using linear matrix inequalities will be developed. Finally, a simulation is presented to demonstrate the benefits of the proposed algorithm.