Cooperative adaptive output regulation for linear multi-agent systems with actuator faults

This paper considers the cooperative fault-tolerant output regulation problem for linear multi-agent systems with actuator faults. It is assumed that the actuator faults are loss of effectiveness faults. A new lemma is introduced to ensure the transmission zero condition for the systems with actuator faults. Based on this lemma, the unique solution of the output regulation equations is achieved. Moreover, a distributed adaptive observer and a distributed state feedback controller with time-varying gains are designed to compensate the actuator faults. In addition, it is shown that the cooperative fault-tolerant output regulation problem can be solved under the proposed controller. Finally, a simulation example is presented to show the validity of the proposed controller.