Fault-tolerant consensus of leader–following multi-agent systems with jointly connected topologies

The fault-tolerant leader–following consensus problem of multi-agent systems (MASs) with jointly connected topologies is considered in this paper. A control law, which is compensated by adaptive estimation of fault parameters using finite interval projection operator, is designed and enables the MAS with jointly connected topologies to achieve consensus in the presence of actuator faults. Furthermore, compared with the most existing works of fault-tolerant consensus with fixed and switching connected topologies, the results with jointly connected topologies are more general in practical systems. Moreover, the effectiveness of the controller for the considered problem is proved based on the Lyapunov stability theory. At the final part, by a numerical simulation, the validity of the results is verified.