Fully Distributed Active Complementary Fault-tolerant Optimal Control for Nonlinear Multi-agent Systems based on ADP Technique

In this paper, a fully distributed active complementary fault-tolerant coordination control problem is addressed for nonlinear multi-agent systems (MASs) under multiplicative actuator faults over undirected graph. To estimated the multiplicative actuator faults, an adaptive fault estimate scheme is constructed, based on which, a new system dynamics is built. Moreover, a cost function is introduced to obtain the active optimal complementary falut-tolerant control through adaptive dynamic programming (ADP). Finally, a simulation result is unfolded to demonstrate the effectiveness and performance of our scheme.