Distributed Unknown Input Observer-Based Global Fault-Tolerant Average Consensus Control for Linear Multi-Agent Systems

The paper mainly investigates the distributed unknown input observer-based global fault-tolerant average consensus control problem for multi-agent systems (MASs). First, a distributed unknown input observer based on relative estimation error is proposed, which can effectively reduce the impact of external disturbances and achieve accurate estimation of the agent states and the faults they suffered. Then, based on the obtained accurate estimations and using the relative estimation error, a global fault-tolerant average consensus controller is proposed. The proposed controller can compensate for the effects of faults and enable the MASs to achieve global average consensus. Finally, simulations are given to verify the effectiveness of the proposed scheme.