Observer and Stochastic Faulty Actuator-Based Reliable Consensus Protocol for Multiagent System

A nondeterministic actuator fault model-based reliable control design method is presented for the leader-following consensus of a multiagent system (MAS) subject to input time-varying delay and the nonlinear phenomenon through the observer framework. Notably, a more generalized practical actuator fault model is proposed where the faults of each actuator are assumed to occur randomly and the fault rates are characterized by stochastic variables that satisfy certain probability conditions. To trace the leader dynamics, a reliable observer-based state feedback consensus algorithm is developed for the pursuing agents. After that, in light of graph theory and the Lyapunov-Krasovskii stability theorem, the required conditions are achieved to guarantee the leader-following consensus of the considered MAS, and then the corresponding reliable controller design method is proposed. Furthermore, simulations are eventually conducted to exhibit the efficiency of the newly developed control scheme, where it is shown that the obtained conditions guarantee the consensus of the considered MAS in the case of possible actuator faults.