This paper studies the distributed fault-tolerant control (FTC) problem for heterogeneous nonlinear multi-agent systems (MASs) under sampled intermittent communications. First, in order to estimate the state of leader under sampled intermittent communications, the distributed intermittent observer for each follower is constructed. By using the tool from switching system theory, the estimation error converges to zero exponentially if the communication rate is larger than a threshold value even under the impact of sampled intermittent communications. Then, by applying model reference adaptive tracking technique, a robust FTC protocol is developed to track the distributed intermittent observer. Two algorithms are presented to choose the feedback gain of the distributed intermittent observer and the tracking feedback gain of the fault-tolerant tracking controller. It is proved that the global consensus tracking error is bounded under the developed distributed control protocol. Finally, an example with the coupled pendulums is provided to verify the efficiency of the designed method.

本文研究了采样间歇通信下异构非线性多代理系统（MAS）的分布式容错控制（FTC）问题。首先，为了估计采样间歇通信下leader的状态，构建了每个follower的分布式间歇观测器。通过使用交换系统理论的工具，即使在采样的间歇通信的影响下，如果通信速率大于阈值，估计误差也会以指数方式收敛到零。然后，通过应用模型参考自适应跟踪技术，开发了一种鲁棒的 FTC 协议来跟踪分布式间歇观测器。提出了两种算法来选择分布式间歇观测器的反馈增益和容错跟踪控制器的跟踪反馈增益。证明了在开发的分布式控制协议下全局共识跟踪误差是有界的。最后，提供了一个带有耦合摆的例子来验证所设计方法的效率。