Fault-tolerant consensus of nonlinear agents considering switching topology in the presence of communication noise

In this paper, the consensus of nonlinear multi-agent systems (MASs) is discussed, considering actuator fault and switching topology in the presence of communication noise. The actuator fault and communication noise are both considered to be random. The switching of the topologies is considered random as well. These issues are handled by Distributed Nonlinear Dynamic Inversion (DNDI), which is designed for Multi-Agent Systems (MASs) operation. The convergence proof with actuator fault is provided, which shows the robustness of the controller. The simulation results show that DNDI successfully dealt with the actuator fault and communication events simultaneously.