Consensus problem in a leader-following multi-agent system with actuator fault is investigated in this paper. By introducing the control allocation and optimal method, a novel distributed controller is proposed to deal with the partial loss of effectiveness and outage fault without reconfiguring the controller. Compared with the existing literatures, the proposed algorithm can guarantee the consensus errors converge to zero asymptotically without the traditional rank assumption. Finally, three simulations are provided to verify the effectiveness of the proposed method.

中文翻译：

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领导者跟随多主体系统中具有控制分配的容错共识控制

研究了具有执行器故障的前导跟随多主体系统的共识问题。通过引入控制分配和最优方法，提出了一种新型的分布式控制器，该控制器无需重新配置控制器即可解决部分有效性损失和停电故障。与现有文献相比，该算法无需传统秩假设即可保证共识误差渐近收敛为零。最后，提供了三个仿真来验证所提出方法的有效性。