Finite-time consensus of Markov jumping multi-agent systems with time-varying actuator faults and input saturation

• Published in: ISA transactions 2018-12, Vol.83, p.89-99
• Main Authors: Sakthivel, R., Parivallal, A., Kaviarasan, B., Lee, Hosoo, Lim, Yongdo
• Format: Article
• Language: English
• Subjects: Finite-time consensus; Input saturation; Markov jump parameters; Multi-agent systems
• ISSN: 0019-0578; 1879-2022
• DOI: 10.1016/j.isatra.2018.08.016

This paper gives attention to the issue of finite-time leader-following consensus of nonlinear discrete-time multi-agent systems with Markov jump parameters. A robust fault-tolerant control protocol that takes the effect of time-varying actuator faults and actuator saturation into account is considered for the addressed system. The main purpose of the paper is to design a fault-tolerant controller such that the leader-following consensus of the addressed system is achieved over a prescribed finite-time interval. By using the Lyapunov functional approach, Abel’s lemma and some properties of Kronecker product, a sufficient condition for the existence of fault-tolerant state feedback controller for the addressed system is presented and an explicit parameterization of such a controller is obtained. Eventually, a numerical example along with its simulation results is exploited to reflect the applicability of the proposed design method, wherein the robust performance of controller is exhibited despite the presence of actuator saturation and time-varying actuator faults. •Leader-following consensus is discussed for nonlinear multi-agent systems.•Interactions between the leader and the agents are assumed as undirected and fixed.•A fault-tolerant controller is proposed to solve the aforementioned problem.•Considered consensus problem is converted as stability problem of error system.