Distributed-observer-based Fault Tolerant Control Design for Nonlinear Multi-agent Systems

  • Jianye Gong
  • Bin Jiang
  • Qikun ShenEmail author
Regular Papers


The problem of distributed adaptive fault tolerant control is investigated for nonlinear multi-agent systems with sensor faults in this paper. By utilizing radial basis function neural networks to approximate the unknown continuous nonlinear functions, a distributed-observer-based adaptive neural networks scheme is proposed to estimate each node state, which is unmeasured in the system. Then, a kind of distributed adaptive controller is proposed for each follower based on the sliding mode design technique and fault tolerant control technique. Based on graph and Lyapunov stability theory, it is proved that the tracking errors converge to a small neighborhood of the origin with all signals in the closed-loop system being bounded. Finally, simulation results are given to demonstrate the effectiveness of the control scheme proposed in this paper.


Adaptive control fault tolerant control multiagent system 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.The College of Information EngineeringYangzhou UniversityYangzhouChina
  2. 2.The College of Automation EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

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