Fault-tolerant consensus in integrator networks with assignment of agreement law and dynamics

The paper deals with a particular consensus problem stated for networks where the agents are identical single or double integrators, which share partial information on their states according to a given topology. The further assumption is made that faults may occur in the communication apparatuses of the agents. Moreover, it is required that the agreement law and the dominant dynamics on the consensus manifold are arbitrarily prespecified and not affected by faults. For this problem, explicit solutions are given in terms of high-gain regulators.