Mission independent fault-tolerant control of heterogeneous linear multiagent systems based on adaptive virtual actuator

In this article, a fault-tolerant control (FTC) scheme for linear multiagent systems (MASs) subject to time-varying loss of effectiveness and time-varying additive actuator faults as well as external disturbance is investigated. The main objective of the proposed FTC approach is to keep the performance of an MAS after the occurrence of actuator faults similar to the healthy one. The envisaged adaptive virtual actuator for each agent does not require a separate fault detection, isolation, and identification unit nor does it require any information regarding the mission of the MAS. It is shown that the difference between the states of each agent before and after the occurrence of actuator faults can be made arbitrary small and the ultimate bounds of the state error are also obtained. Furthermore, it is shown that for constant actuator faults the state error of each agent converges to zero. Simulation results corresponding to a team of F-8 aircraft and a heterogeneous MAS with the different order demonstrate and illustrate the effectiveness of our proposed FTC scheme.