Fault-Tolerant Tracking Control of Open Multi-agent Systems with Directed Topology

S. Du—This paper studies the tracking consensus problem of open multi-agent systems (OMASs) with directed topology and actuator faults. The key challenges arise from the presence of actuator faults and the dimensionality mismatch in error signals resulting from the entry and exit of agents. To address these issues, the dynamic properties of the error signal at each switching instant are rigorously characterized by several inequalities. Additionally, a fault-free observer is designed to estimate the states of each agent. Subsequently, a fault-tolerant control protocol based on full-order observer is developed to achieve the tracking consensus while the tracking error remains uniform ultimate boundedness(UUB), despite directed topology and actuator faults. Finally, a numerical simulation is conducted to validate the effectiveness of the proposed control protocols.