Fault Tolerant Control for High-Order Multi-agent Systems with Switching Interaction Topologies

Fault tolerant control (FTC) for high-order multi-agent systems (MAS) with switching interaction topologies are investigated via active disturbance rejection control (ADRC) approach. The influence of the dynamics uncertainties and the actuator fault functions are estimated by the designed extended state observer (ESO), and compensated in the designed control strategy real time. The closed-loop system is proved to be stable despite the actuator fault. The algorithm for the chosen of the parameters is also given. The simulation results demonstrate the effectiveness of the designed controller, the MAS can achieve the predefined switching time-varying formation.