This article investigates the fault-tolerant consensus problem for switched multiagent systems with input saturation. Actuator faults including partial loss of effectiveness, outage, bias, and stuck are all considered in switched general linear systems. By utilizing the adaptive projection algorithm, low gain feedback theory, and average dwell time method, novel saturated consensus protocols are designed for both fixed and switching topologies with local information of neighboring agents. It is proven that the fault-tolerant consensus problem can be solved with the proposed protocols in both leader-following case and leaderless case. The innovation of this article lies not only in the fact that actuator faults, switched dynamics, and input saturation are simultaneously considered, but also in the fact that a novel modified low-and-high gain feedback approach is introduced to deal with various types of actuator faults. Finally, two numerical examples are given to validate the effectiveness of the theoretical results.

中文翻译：

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具有输入饱和的切换多智能体系统的容错共识

本文研究了具有输入饱和的切换多智能体系统的容错共识问题。执行器故障，包括部分失效、中断、偏差和卡住，都在开关一般线性系统中考虑。通过利用自适应投影算法、低增益反馈理论和平均停留时间方法，为具有相邻代理的本地信息的固定和切换拓扑设计了新颖的饱和共识协议。事实证明，在有领导者跟随的情况下和无领导者的情况下，所提出的协议都可以解决容错共识问题。本文的创新之处不仅在于同时考虑了执行器故障、切换动态和输入饱和，而且事实上，引入了一种新颖的改进的低增益和高增益反馈方法来处理各种类型的执行器故障。最后通过两个数值算例验证了理论结果的有效性。