Encryption–decryption-based distributed fault-tolerant consensus tracking control for multi-agent systems

This study investigates fault-tolerant consensus tracking for discrete-time multi-agent systems (MASs) subject to external eavesdropping threats and additive actuator faults. First, actuator faults are modeled by difference equations, and decentralized observers are constructed to estimate actuator faults as well as system states. To offset fault-induced effects, ensure secure communication, and alleviate communication congestion, neighboring encrypted state information based on the encryption–decryption strategy (EDS) and estimated fault are integrated into a distributed active fault-tolerant consensus tracking control (FCTC) protocol. Through the properties of compatible norms, criteria for the controller, observer, and dynamic encryption key in EDS are derived to achieve leader-following consensus (LFC) of MASs with bias and drift actuator faults. Simulation results confirm the validity of the encryption–decryption-based distributed FCTC strategy.