Distributed Fault-Tolerant Control for Nonlinear Heterogeneous Multiagent System With Fault Indication Under Safety Constraint

In this article, the distributed cooperative tracking problem for heterogeneous nonlinear multiagent system model with time-varying actuator faults, external disturbance, and system uncertainties is investigated. The virtual system with fault indication is constructed for each agent to prevent fault propagation and adjust adaptively to satisfy safety constraints. The adaptive fault-tolerant and anti-disturbance controller in the real system achieves tracking to the virtual system and heterogeneous consensus. It is shown that the proposed distributed control strategy converges the tracking error to zero and realizes controllable fault indication in the virtual layer under safety constraints. The effectiveness of the proposed control scheme is verified by simulation examples.