Hybrid finite‐time fault‐tolerant consensus control of non‐linear fractional order multi‐agent systems based on fault detection and estimation

This paper addresses the problem of achieving finite‐time fault‐tolerant consensus control for a class of non‐linear fractional‐order multi‐agent systems (NFO‐MAS) using finite‐time fault detection and estimation, as well as a finite‐time state observer. To achieve this, a specific lemma is utilized to rewrite the high‐order model of NFO‐MAS as a lower‐order NFO unique system. By employing new identification rules and introducing a fault estimation method, both the state variables and faults of the agents are estimated within a finite time. Subsequently, a finite‐time sliding mode control law is designed based on the estimated fault and the state variables obtained from the proposed finite‐time observer to achieve consensus within a finite time for the fractional‐order non‐linear MAS. The stability of the fault estimation, state observer, and consensus controller is proven using the finite‐time Lyapunov theory. The effectiveness of the proposed approach is demonstrated through numerical simulations.