This paper investigates the problem of adaptive fault-tolerant tracking control for the multiagent systems (MASs) under the time-varying actuator faults and bounded unknown control input of the leader. On the basis of the local state information of neighboring agents, an adaptive fault-tolerant control protocol, which consists of the adaptive estimation of faults, is constructed to compensate for the loss of actuator effectiveness in the leader–follower consensus of MASs. Moreover, the modification term in the adaptive estimation can avoid high-frequency oscillations. It is shown that the tracking errors converge to a neighborhood around the origin in the presence of actuator faults, and the performance of the tracking problem is improved. Furthermore, the protocol is distributed in the sense that the coupling gains are independent. Finally, two examples are given to show the effectiveness of the proposed control protocol.

中文翻译：

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有向图的多智能体系统的自适应容错共识协议

本文研究了时变执行器故障和领导者有界未知控制输入的情况下，多智能体系统（MAS）的自适应容错跟踪控制问题。基于相邻代理的本地状态信息，构建了一种自适应容错控制协议，该协议由故障的自适应估计组成，以补偿MAS的领导者与跟随者共识中执行器有效性的损失。此外，自适应估计中的修改项可以避免高频振荡。结果表明，在存在执行器故障的情况下，跟踪误差收敛到原点附近，改善了跟踪问题的性能。此外，在耦合增益是独立的意义上分配协议。最后，