The leader–follower consensus tracking is one of the important problems in multi-agent systems (MASs) which can be influenced by actuator faults. The main issue of the paper is fault occurrence, and the challenge is to design an appropriate decentralized fault-tolerant control (FTC) based on fault estimations to minimize the effects of actuator fault and maintain the tracking problem. In this paper, the Luenberger detection filter is adopted for the fault detection process and fault estimations are obtained by recursive least-square (RLS) parameter estimation method. The procedure utilized for FTC is fault hiding technique so that using virtual actuator methodology, the effects of faults are partially improved and a robust controller is combined with a virtual actuator to reduce the tracking error. The main contribution of this paper is designing a robust FTC which not only can compensate for the performance degradation, but also can make the system robust against fault estimation error uncertainties. It is also proved that the tracking error of faulty agents converges to zero asymptotically and the consensus tracking is preserved by using the proposed method. The effectiveness of the proposed method is verified through simulations.

中文翻译：

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使用分散鲁棒容错控制控制具有执行器故障的多智能体系统的领导者 - 追随者共识

领导者 - 追随者共识跟踪是多代理系统（MAS）中的重要问题之一，可能受执行器故障的影响。该论文的主要问题是故障发生，挑战在于基于故障估计设计合适的分散式容错控制（FTC）以最小化执行器故障的影响并保持跟踪问题。在本文中，故障检测过程采用Luenberger检测滤波器，并通过递归最小二乘（RLS）参数估计方法获得故障估计。用于 FTC 的程序是故障隐藏技术，因此使用虚拟执行器方法，故障的影响得到部分改善，并且鲁棒控制器与虚拟执行器相结合以减少跟踪误差。本文的主要贡献是设计了一种鲁棒的 FTC，它不仅可以补偿性能下降，而且可以使系统对故障估计误差的不确定性具有鲁棒性。还证明了错误代理的跟踪误差渐近收敛到零，并且使用所提出的方法保持了一致的跟踪。通过仿真验证了所提出方法的有效性。