Fault-Tolerant Control for Output Regulation in Multi-Agent Systems Based on Prescribed-Time Observers

This paper investigates the problem of fault-tolerant control for output regulation in multi-agent systems with actuator multiplicative faults. Initially, a prescribed-time observer is established for the followers to estimate the states of the leader. By incorporating a time-varying scaling function, the convergence time is predetermined, ensuring that the observer error converges to zero independently of the system parameters and initial conditions. Subsequently, a distributed adaptive fault-tolerant controller is designed based on the states of the observer and the relative information among the neighboring agents. It is verified that the designed controller can effectively compensate for actuator faults and address the cooperative output regulation fault-tolerant control problem. Finally, the effectiveness of the adaptive fault-tolerant controller is demonstrated through a simulation example.