Fixed-time adaptive fault-tolerant output consensus control for heterogeneous multi-agent systems

Aiming at the fault-tolerant output consensus problem of heterogeneous multi-agent systems with external finite energy interference in the case of simultaneous additive and multiplicative faults of the actuators, this paper proposes a fault-tolerant output control strategy combining fixed-time feedforward control and adaptive state feedback control. First, a fully distributed adaptive fixed-time observer is designed for the follower, so that each follower can estimate the leader state and the state matrix within a fixed time. Then, combined with the output adjustment equation with fault matrix, a distributed adaptive fault-tolerant output consensus control scheme is proposed to compensate for the impact of fault on the system, and the sufficient conditions for consensus system output are deduced by using Lyapunov stability theory. Finally, the effectiveness and feasibility of the proposed method are verified by a heterogeneous multi-agent faulty system composed of a leader and four followers.