Consensus tracking of stochastic multi-agent system with actuator faults and switching topologies

This article studies the consensus tracking control of stochastic multi-agent system (MAS) under randomly switched topology with faulty actuators. The system is considered as a stochastic one, under which the followers can track with a virtual leader while the leader's trajectory can only be used for a small subset of followers. The topology conversion is controlled by a continuous-time Markov process. A fault-tolerant control strategy is designed for each agent with its neighbors' information, then the proposed control protocol is proved with Lyapunov stability theory. Simulation part verifies the mentioned controller.