Resilient adaptive and H∞ controls of multi-agent systems under sensor and actuator faults.

Resilience of multi-agent systems (MAS) reflects their capability to maintain normal operation, at a prescribed level in the presence of unintended faults. In this paper, we investigate resilient control of MAS under faults on sensors and actuators. We propose four resilient state feedback based leader–follower tracking protocols. For the case of sensor faults, we develop an adaptive compensation protocol and an H∞ control protocol. For the case of simultaneous sensor and actuator faults, we further propose an enhanced adaptive compensation protocol and an enhanced H∞ control protocol. We show the duality between the adaptive compensation protocols and the H∞ control protocols. For adaptive compensation protocols, faults on sensors and actuators are rejected by using local adaptive sensor and actuator compensators, respectively. Moreover, by employing a static output-feedback design technique, we propose H∞ control protocols that guarantee bounded L2 gains of certain errors in terms of the L2 norms of fault signals. This further allows us to prove resilience even if sensor faults are unbounded. Finally, simulation studies validate the effectiveness of the proposed protocols.