Fault-tolerant Consensus Control for Hybrid Multi-agent Systems

In multi-agent systems (MASs), it is very likely that the dynamics of the agents will be different, which is called heterogeneity. In this paper, the consensus of a hybrid multi-agent system, that contains discrete-time and continuous-time second-order agents, in the presence of actuator faults is considered. To estimate the faults, an online fault observer is obtained and based on the estimations, graph theory is used to design the proper control law that provides the consensus of the agents. It is worth mentioning that various agent faults types with different inception times are considered in this study to showcase the superiority of the proposed fault observer. The simulation results are provided in the results and discussion section of this paper to demonstrate the efficiency of the proposed method. The results show that the actuator bias fault can disrupt the consensus of agents but, using the proposed compensator, we can solve this problem and re-establish the consensus after occurring the faults.