An Adaptive Fault-Tolerant Control Scheme for Heterogeneous Multiagent Systems

This article proposes an adaptive fault-tolerant control (FTC) scheme for heterogeneous multiagent systems with time-varying communication link faults and actuator faults. First, the communication link faults, including the channel signal fading and cyber bias attack, is considered, and the communication link fault compensation controller is designed through introducing the adaptive signals with the estimate of the norms of the faulty matrix. Then, by using the minimum eigenvalue of the control gain matrix, the minimum-eigenvalue-based adaptive fault-tolerant controller is proposed to compensate for the time-varying actuator loss of effectiveness and bias faults. Moreover, the convergence performance analysis of the developed FTC algorithm is given based on the Lyapunov theory. The simulation results carried out on the quadrotors-unmanned ground vehicles formation systems validate the effectiveness of the theoretical results.