Insensitive leader-following consensus for a class of uncertain multi-agent systems against actuator faults

This paper is concerned with the leader-following consensus control problem for a class of multi-agent systems against actuator faults and some perturbed factors as state-dependent uncertainties and multiplicative controller coefficient variations. The follower agents are supported to be connected by a multi-layer network structure, which can be described by a directed graph among different layers and an undirected graph in the same layer. Without requirement of knowledge of eventual faulty factors of actuators and perturbed factors of agents, a class of distributed controllers is constructed to ensure that follower agents can track the leader agent based on adaptive updates. Lyapunov functions are addressed to prove that asymptotic consensus of multi-agent systems can be achieved in the presence of partial loss of effectiveness on bias-actuators and uncertainties in agents and controllers. Finally, multiple coupled aircrafts are used to verify the efficiency of the proposed method.