This paper mainly investigates the consensus control problem of multi-agent system with actuator fault under the leader-follower topology structure. For actuator fault, the additive and multiplicative fault are also considered in this paper. It is worth noting here that for actuator fault we only consider follower agent. For other factors that can affect system functionality, the external bounded disturbance and nonlinear factor are considered for all agents. The main paper organization structure is as follows. Firstly, by constructing nonlinear adaptive fault observer, the estimated values of actuator multiplicative fault and the unknown upper bound of actuator additive fault are respectively obtained. Subsequently, based on the estimated value of fault observer, a distributed fault-tolerant consensus control protocol is proposed to solve the consensus implementation problem of multi-agent system in the case of actuator fault. Finally, the effectiveness of fault-tolerant consensus control algorithm is proved by a simulation example of multi-aircraft system.

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This paper studies the distributed optimization problem of second‐order multiagent systems containing external disturbances. To reject the external disturbances and lead agents' states to converge to the optimal consensus point, an adaptive event‐triggered controller is proposed based on the internal model principle. With the adaptive mechanism, both the controller and the event‐triggering condition do not contain the parameters related to global information, such as the maximum Lipschitz constant and the minimum strongly convex constant of local cost functions, and hence the event‐triggered controller is fully distributed. By utilizing the event‐triggered scheme, the consumption of communication among neighbors and the computing resources are saved. Furthermore, with the Lyapunov analysis framework, the optimal consensus can be proved to achieve and Zeno behavior is excluded from the event‐triggering condition. Finally, the effectiveness of the proposed protocol is verified by numerical simulations.

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