Adaptive Consensus and Circuital Implementation of a Class of Faulty Multiagent Systems

This article is concerned with the robust adaptive fault-tolerant consensus control and the circuital implementation problems for a class of homogeneous multiagent systems with external disturbances and actuator faults. A robust adaptive consensus control strategy is developed to automatically eliminate the effects of actuator bias and partial loss-of-control-effectiveness faults, and simultaneously specify the L-2 performance of systems. The achievement of exponential consensus of the closed-loop disturbed and faulty multiagent system is provided on the basis of the Lyapunov stability theory. Furthermore, a physical implementation method is developed based on circuit theory to translate the proposed adaptive consensus control strategy into analog circuits. By using a professional tool for circuit simulations, effectiveness of the developed circuits is verified via a multiagent system composed by mobile robots with two independent driving wheels.