Simultaneous fault-tolerant consensus control and disturbance suppression for multi-agent systems with polynomial form fault under switching topology

For continuous-time linear leader-follower multi-agent systems with polynomial faults, the problem of fault- tolerant state consensus under switching topologies is studied. firstly, the average dwell time method is introduced, and observers are designed for different topologies to observe faults and disturbances. Secondly, according to the observed estimated value, the corresponding fault-tolerant control consensus protocol is proposed considering the switching situation of the communication topology. Finally, both theoretical analysis and simulation examples verify that the proposed design scheme can compensate faults and disturbance rejection.