This article studies the cooperative fault‐tolerant control (FTC) problem of leader‐follower multiagent systems with process faults and heterogeneous Lipschitz nonlinearity via output regulation theory. The control objective is to convert the FTC problem into a cooperative output regulation problem such that all followers can track the leader regardless of process faults. Under directed communication topology, distributed observers are first designed to estimate the states and faults of all followers. Specially, the leader in this article is described by a more general nonlinear dynamics. Since only parts of followers can directly obtain the information of nonlinear leader, an adaptive distributed observer is introduced to estimate the state of the leader as feedforward information. By utilizing these estimations, a new distributed FTC protocol is constructed based upon the solutions of nonlinear regulator equation and algebraic Riccati equation. Finally, a numerical example is presented to demonstrate the obtained theoretic results.

中文翻译：

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异构非线性多主体系统的分布式输出调节合作容错控制

本文通过输出调节理论研究了具有过程故障和异构Lipschitz非线性的领导者跟随多主体系统的协同容错控制（FTC）问题。控制目标是将FTC问题转换为协作输出调节问题，以使所有跟随者都可以跟踪领导者，而不管过程故障如何。在定向通信拓扑下，首先设计分布式观察者以估计所有跟随者的状态和故障。特别是，本文的领导者是通过更一般的非线性动力学来描述的。由于只有跟随者的一部分可以直接获得非线性领导者的信息，因此引入了一种自适应分布式观测器，以估计领导者的状态作为前馈信息。利用这些估算，基于非线性调节器方程和代数Riccati方程的解，构造了一种新的分布式FTC协议。最后，通过数值例子说明了所获得的理论结果。