An Adaptive Fault Isolation and Tolerant Control Method Based on Consistency Error for Multi-agent Systems

This paper is aimed at the second-order linear multi-agent formation systems. Due to the failure of the actuator in a node, the wrong interactive information is transmitted between nodes, so that the entire system cannot complete the expected task. A distributed adaptive fault isolation and fault tolerance method based on consistency theory is proposed. Creatively the consistency error variable is designed according to the connection relationship between nodes and the faulty node, which eliminates the influence of the faulty node on the neighbor nodes. Then, an overall distributed adaptive fault isolation and fault tolerance approach is designed according to the local information of neighbor agents. The stability of the designed approach is proved by constructing a reasonable Lyapunov function. Simulation results show that the proposed adaptive control approach has good robustness.