Adaptive Fault-Tolerant Tracking Control for Singular multi-agent systems

In this paper, the consensus tracking problem of singular multi-agent systems with actuator faults is considered. The interaction topology among following agents is assumed to be undirected and connected. An adaptive law is adopted in the proposed protocol to adjust the coupling weight, which implements the protocol in a fully distributed fashion. To compensate the poor effects caused by actuator faults, the gain matrices involved in the protocol are constructed by the positive definite solution of the generalized Riccati equation. Based on the Lyapunov method, the singular multi-agent systems can achieve consensus via the proposed protocol. As a special case, the proposed approach can be used to solve the consensus tracking problem of linear multi-agent systems with actuator faults directly. Finally, a simulation result is included to testify our established result.