Practical Finite-Time Fault-Tolerant Cooperative Output Regulation of Multi-Agent Systems

This study is devoted to the practical finite-time cooperative fault-tolerant output regulation issue of heterogeneous multi-agent systems. Firstly, a type of fixed-time distributed observer is developed to identify the exosystem state. In addition, a state observer and a fault estimator are proposed to observe the unknown states of agents and the bias faults. Meanwhile, based on the estimate of the states and faults, a fault-tolerant controller is designed to solve the practical cooperative output regulation problem within a finite time. The developed observers and estimator are examined by providing a numerical example.