Simultaneous actuator fault estimation and fault-tolerant tracking control for multi-agent systems: a sliding-mode observer-based approach

This study is concerned with the design of a distributed simultaneous fault estimation and fault-tolerant control scheme for linear multi-agent systems subject to actuator faults. For each agent, a sliding-mode observer-based estimator/controller module is proposed that uses the available local relative output measurements and the information transmitted from the neighbouring agents. By considering the H-infinity performance index and using the linear matrix inequality technique, the parameters of the observers are designed such that the fault estimation is robust against disturbances and at the same time, a robust leader-following mission in the presence of actuator fault is guaranteed. As the fault estimator and fault tolerant controller are integrated in the proposed strategy, there is no need for separate design of these units. Moreover, the proposed method improves the existing fault estimation techniques in terms of both complexity and performance. Two simulation examples are presented to illustrate the effectiveness of the proposed methodology.