Fault-tolerant control of multi-agent systems based on adaptive fault hiding framework

In this paper, a fault tolerant control (FTC) scheme for multi-agent systems subject to loss of effectiveness actuator faults is investigated. The main objective of the proposed FTC approach is to keep the performance of a multi-agent system after the occurrence of actuator faults similar to the healthy one. For this purpose, an adaptive virtual actuator is designed for each agent without a need to have a separate fault detection, isolation and identification unit and it is shown that the difference between the states of each agent before and after the occurrence of actuator faults converges to zero. The proposed FTC scheme is independent of the mission of the multi-agent systems. Simulation results corresponding to a team of F-8 aircrafts demonstrate and illustrate the effectiveness of our proposed FTC scheme. 2017 American Automatic Control Council (AACC).Scopu