Fault-tolerant consensus control with control allocation in a leader-following multi-agent system

Consensus problem in a leader-following multi-agent system with actuator fault is investigated in this paper. By introducing the control allocation and optimal method, a novel distributed controller is proposed to deal with the partial loss of effectiveness and outage fault without reconfiguring the controller. Compared with the existing literatures, the proposed algorithm can guarantee the consensus errors converge to zero asymptotically without the traditional rank assumption. Finally, three simulations are provided to verify the effectiveness of the proposed method.