Data-Driven Fully Distributed Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems: An Observer-Based Approach

Yuyang Zhao, Dongnan Li, Yunlong Li, Dawei Gong (), Jiaoyuan Chen, Shijie Song and Minglei Zhu
Additional contact information
Yuyang Zhao: School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Dongnan Li: Heilongjiang Provincial Climate Center, Harbin 150030, China
Yunlong Li: The Third Military Representative Office of the Air Force Armaments Department in Harbin, Harbin 150000, China
Dawei Gong: School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Jiaoyuan Chen: School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Shijie Song: Institute of Smart City and Intelligent Transportation, Southwest Jiaotong University, Chengdu 614202, China
Minglei Zhu: Institute of Smart City and Intelligent Transportation, Southwest Jiaotong University, Chengdu 614202, China

Mathematics, 2025, vol. 13, issue 22, 1-16

Abstract: This paper introduces a novel observer-based, fully distributed fault-tolerant consensus control algorithm for model-free adaptive control, specifically designed to tackle the consensus problem in nonlinear multi-agent systems. The method addresses the issue of followers lacking direct access to the leader’s state by employing a distributed observer that estimates the leader’s state using only local information from the agents. This transforms the consensus control challenge into multiple independent tracking tasks, where each agent can independently follow the leader’s trajectory. Additionally, an extended state observer based on a data-driven model is utilized to estimate unknown actuator faults, with a particular focus on brake faults. Integrated into the model-free adaptive control framework, this observer enables real-time fault detection and compensation. The proposed algorithm is supported by rigorous theoretical analysis, which ensures the boundedness of both the observer and tracking errors. Simulation results further validate the algorithm’s effectiveness, demonstrating its robustness and practical viability in real-time fault-tolerant control applications.

Keywords: MFAC; nonlinear MASs; consensus control; fault-tolerant control; observer-based control; data-driven control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
References: Add references at CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2227-7390/13/22/3582/pdf (application/pdf)
https://www.mdpi.com/2227-7390/13/22/3582/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:13:y:2025:i:22:p:3582-:d:1790073

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().