Fault-tolerant control of multi-agent systems with input delay and sensor failure

The problem of fault-tolerant control (FTC) for a multi-agent system (MAS) with input delay and sensor failures is addressed in this study. The topology of communication is an undirected subgraph having directed connections between the followers and leader. The Lyapunov approach is used to identify sufficient criteria for consensus control. We propose a fault-tolerant controller based on observed descriptors. On the basis of proposed fault-tolerant control, actuator problems, sensor faults, and state estimations can be solved. To minimize the size of the data, the Artstein-Kwon-Pearson reduction method is applied. Based on a Lyapunov functional predictive descriptor observer architecture, sufficient conditions are derived to guarantee the asymptotic stability. To demonstrate the theoretical results, numerical examples are provided.