Integrated Fault Estimation and Fault-Tolerant Tracking Control for Lipschitz Nonlinear Multiagent Systems

An integrated fault estimation (FE) and fault-tolerant tracking control (FTTC) strategy is developed for Lipschitz nonlinear multiagent systems subject to actuator faults, external disturbance, and uncertainties. First, for each agent, a corresponding unknown input observer with reduced/full order is constructed to obtain the FE. Then, a state/output feedback FTTC strategy is proposed based on the integral sliding-mode technique and adaptive super-twisting algorithm. The observer and controller gains are obtained simultaneously via H ∞ optimization with a linear matrix inequality formulation. Finally, the comparison simulations are provided to demonstrate the effectiveness of the proposed algorithm.