Leader–Follower Consensus of Multivehicle Wirelessly Networked Uncertain Systems Subject to Nonlinear Dynamics and Actuator Fault

This paper addresses the leader-follower consensus problem of multivehicle wirelessly networked uncertain systems with nonlinear dynamics and actuator fault and proposes a class of distributed discontinuous communication protocols based only on the relative states among neighboring vehicles. By introducing a novel fault model for multivehicle wirelessly networked uncertain systems, fault tolerant consensus can be achieved with different fault modes of the actuators. It is proved in the sense of Lyapunov that, if the conditions of dwell time and the intermittent communication rate are satisfied, the leader-follower consensus can be achieved for closed-loop multivehicle wirelessly networked uncertain systems with nonlinear dynamics and actuator fault under the topology that frequently but not always contains a spanning tree rooted at the leader. Furthermore, the results are extended to the collision avoidance and formulation control problems. Four examples are presented to demonstrate the effectiveness of the proposed approaches.