Consensus Control of Linear Multiagent Systems Under Actuator Imperfection: When Saturation Meets Fault

This article is concerned with the consensus control problem for a general class of linear multiagent systems (MASs) subject to actuator imperfection consisting both saturations and faults. A novel two-step saturation-resistant approach proposed attenuate side effects resulting from imperfection. In first step controller design, state information received neighboring agents used design capable tolerating fault. Then, in second optimization, domain attraction (DOA) introduced MASs evaluate performance and, subsequently, optimize parameters enlarge DOA terms solutions certain set matrix inequalities. Finally, simulation examples are provided demonstrate effectiveness developed approach.