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    This study introduces a novel virtual-actuator control scheme for multiagent systems (MASs) that enhances fault tolerance. The system adaptively compensates for actuator failures without needing fault estimates, ensuring robust consensus tracking.

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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Networked Systems

    Background:

    • Multiagent systems (MASs) face challenges in maintaining consensus tracking due to actuator faults and external disturbances.
    • Existing control schemes often require complex fault estimation or are limited by specific fault conditions.

    Purpose of the Study:

    • To develop a robust virtual-actuator-based control scheme for MASs that addresses actuator faults and mismatched disturbances.
    • To design a fault-tolerant control strategy that preserves nominal controller properties and enhances system adaptability.

    Main Methods:

    • A double-layer control structure comprising a cyber layer (nominal controller) and a physical layer (virtual actuator/fault compensator).
    • Adaptive reconfiguration of faulty plants using a virtual actuator, independent of fault estimation.
    • Removal of the rank condition for outage faults and allowance for unknown leader input norm bounds.

    Main Results:

    • The proposed scheme effectively compensates for actuator faults and mismatched disturbances in MASs.
    • The nominal controller's properties are preserved post-failure, simplifying system management.
    • The control strategy demonstrated effectiveness without relying on accurate fault estimates, avoiding associated negative impacts.

    Conclusions:

    • The virtual-actuator-based control scheme offers a robust and adaptive solution for consensus tracking in MASs with actuator faults.
    • This approach relaxes common constraints in fault-tolerant control, broadening its applicability.
    • Numerical validation confirms the theoretical effectiveness of the proposed control scheme.