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Leader-Following Fault-Tolerant Consensus Control for Multi-Agent Systems Based on Observers.

Tengzi Liu1, Fanglai Zhu2, Haichuan Xu1

  • 1Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai 200092, China.

Sensors (Basel, Switzerland)
|May 27, 2026
PubMed
Summary
This summary is machine-generated.

A new fault-tolerant consensus control scheme for multi-agent systems (MASs) enables followers to estimate leader states and achieve consensus despite faults. This distributed information estimation and centralized control method enhances system reliability.

Keywords:
DO-based distributed control protocoldistributed observerfault reconstructionmulti-agent systemsunknown input observer

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Distributed Systems

Background:

  • Multi-agent systems (MASs) require robust control strategies for reliable operation.
  • Fault tolerance is crucial in MASs to maintain performance under component failures.
  • Leader-follower structures are common in MASs, necessitating effective inter-agent communication and state estimation.

Purpose of the Study:

  • To develop a novel fault-tolerant consensus control mechanism for leader-follower MASs.
  • To enable follower agents to accurately estimate their states and the leader's state, even in the presence of unknown inputs and faults.
  • To achieve consensus in MASs under fault conditions using a distributed estimation and centralized control approach.

Main Methods:

  • Design of an unknown input observer (UIO) for each follower agent to achieve asymptotic state estimation.
  • Development of a fault reconstruction (FR) method using an interval observer for sensor measurements.
  • Creation of a distributed observer (DO) for followers to obtain leader state estimations.
  • Design of a centralized controller utilizing individual state estimations, fault reconstruction, and leader state estimations from the DO.

Main Results:

  • The proposed distributed information estimation and centralized control scheme effectively achieves fault-tolerant consensus.
  • The developed DO-based distributed fault-tolerant control protocol ensures MAS consensus is reachable.
  • Simulation examples demonstrate the practical effectiveness and robustness of the proposed control strategy.

Conclusions:

  • The novel fault-tolerant consensus control mechanism provides a reliable solution for leader-follower MASs.
  • The integration of UIO, FR, and DO enables robust state estimation and control under fault conditions.
  • The proposed method enhances the stability and performance of multi-agent systems in the presence of uncertainties and faults.