Synchronous fault-tolerant consensus control and disturbance rejection for leader-following multi-agent systems with fault of polynomial form

This article studies the design problem of fault-tolerant and disturbance rejection control for leader-following multi-agent systems with polynomial form fault. First, a novel observer is designed to estimate polynomial form faults and external disturbances in the tracker. Second, a fault-tolerant control protocol is designed for each follower based on the obtained estimates; the designed distributed controller can effectively achieve both the goal of fault-tolerant control and the effect of disturbance rejection. Finally, a simulation result of a practical example is presented to verify the feasibility of the proposed scheme.