多智能体系统中基于李雅普诺夫稳定性的协同容错控制

onsensus problems form the foundation of the field of distributed multi-agent systems, a consistent state is reached by cooperative law in the network of agents. Agent's actuator fault leads to system instability, which often causes quantities of economic losses and casualties. However, control input in traditional fault diagnosis and tolerance does not contain cooperative part, which makes it is not fit for multi-agent consensus. Therefore, a new framework for multi-agent system is proposed for handling fault, in this framework, we study the Lyapunov function based cooperative tolerance control. For the multiple faulty agents case, the faulty agents are isolated, a reconfigurable controller is designed to compensate for the impact of faulty agents.