Mean square consensus of heterogeneous multi-agent systems in the presence of actuator faults

Abstract

This paper presents the mean square consensus of multi-agent systems in the presence of actuator faults and stochastic disturbances. The dynamics of agents are considered to be heterogeneous. In addition, the information exchange between agents is modeled by a directed graph. The actuator faults are assumed as bias fault and loss of effectiveness fault. Using the adaptive control method and neural networks, a distributed controller is designed for the consensus problem of heterogeneous multi-agent systems with actuator faults and stochastic disturbances. Also, by applying Lyapunov theory, it is proved that the distributed controller guarantees the mean square consensus of heterogeneous multi-agent systems in the presence of bias faults, loss of effectiveness faults, and stochastic disturbances. Eventually, two numerical simulations are provided to show the ability of the distributed controller in the consensus problem