Fault tolerant control of switching communication topology multi-agent systems based on fault observer

Abstract This article focuses on the robust fault-tolerant consensus control problem of a linear leader adjoint multi-agent system based on average dwell time switching communication topology, when the system is subject to external bounded energy interference and actuator additive faults. Firstly, a fault diagnosis and estimation method suitable for switching communication topologies of linear leader adjoint multi-agent systems (MAS) based on average dwell time switching communication topology is proposed through system output estimation error, and fault observers are designed for different topologies. Then, based on the fault information estimated by the fault observer, a fault-tolerant controller for MAS under switching communication topology was further designed, and sufficient conditions were derived to satisfy robust H∞ fault-tolerant consistency control for MAS under switching communication topology based on average dwell time. Finally, the effectiveness of the proposed method was verified through simulation.