This article considers the problem of fault diagnosis and fault-tolerant control for uncertain multiagent systems. First, the multiagent system model with disturbances and uncertainty parameters is shown in the article. Then, a new robust adaptive observer based on relative estimation error is used to estimate actuator faults and the parameters of the observer can be obtained by solving the proposed linear matrix inequality. After the fault estimation information is obtained, a robust output feedback fault-tolerant control algorithm based on fault estimation is proposed and the condition that the controller parameters need to be satisfied is given. Finally, the multiagent system with four aircrafts is used as an example to further prove the effectiveness of the algorithm proposed in this article.
Under the guidance of the directed graph, this paper studies the fault diagnosis (FD) and fault-tolerant control (FTC) of the leaderfollower multi-agent systems (MASs) with time delay. Actuator faults and disturbances are considered in this study, which make the work of this paper more challenging. Firstly, a robust distributed observer on the basis of the relative estimation error is put forward to obtain the fault estimation information. en, after getting the fault information obtained by the observer, a dynamic compensation FTC protocol on the basis of the relative output tracking error is developed to make the output of followers can track the leader's output. Finally, the proposed algorithm is veri ed by an example and satisfactory results are obtained.
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