Distributed consensus tracking control of linear multi-agent systems with actuator faults

This paper studies the distributed tracking control problem of general linear multi-agent systems with both additive and multiplicative types of actuator faults. Two distributed control schemes are developed to guarantee asymptotic convergence and uniform ultimate boundedness of the tracking errors, respectively. It is shown that the adverse effects caused by the time-varying actuator faults in the followers can be effectively handled by carefully choosing the coupling gains in the distributed controllers. Simulation results are given to illustrate the effectiveness of the fault tolerant controllers.