This study investigates the consensus problem of multiple 3‐DOF laboratory helicopters modeled with system nonlinearity, uncertainty, and actuator faults. The simultaneous additives and partial loss of effectiveness actuator faults are considered. The fault detection hierarchy, the healthy control hierarchy, and the fault‐tolerant control hierarchy constitute the hierarchical structure of multihelicopter systems. The fault‐tolerant consensus protocol is switched from the healthy control hierarchy once the actuator fault is detected in the fault detection hierarchy. An adaptive fault‐tolerant consensus control scheme is developed on the basis of the instantaneous and integral estimations to compensate simultaneously for system nonlinearity, uncertainty, and actuator faults and to guarantee the mean‐square consensus in a completely distributed form. Simulation results are presented to validate the effectiveness of the proposed adaptive fault‐tolerant consensus control algorithm.

中文翻译：

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多架三自由度实验室直升机的基于层次结构的自适应容错共识控制

本研究调查了以系统非线性，不确定性和执行器故障为模型的多架3自由度实验室直升机的共识问题。考虑了同时添加和有效执行器故障的部分损失。故障检测层次，健康控制层次和容错控制层次构成了多直升机系统的层次结构。一旦在故障检测层次中检测到执行器故障，就会从健康控制层次中切换容错共识协议。在瞬时和积分估计的基础上，开发了一种自适应容错共识控制方案，以同时补偿系统非线性，不确定性和执行器故障，并以完全分布式的形式保证均方共识。