Adaptive Fault Tolerant Consensus Tracking Control based on Cubic Observers for Lipschitz Nonlinear Multi-Agent Systems

Hasanshahi, Mahsa; Maghfoori Farsangi, Malihe; Amini Boroujeni, Elham

doi:10.48308/ijrtei.2026.243893.1112

Adaptive Fault Tolerant Consensus Tracking Control based on Cubic Observers for Lipschitz Nonlinear Multi-Agent Systems

Document Type : Research Article

Authors

Mahsa Hasanshahi ¹

Malihe Maghfoori Farsangi ¹

Elham Amini Boroujeni ²

¹ Department of Electrical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran

² Department of Electrical and Computer Engineering Faculty , kharazmi University, Tehran, Iran

10.48308/ijrtei.2026.243893.1112

Abstract

This paper presents a fault-tolerant consensus tracking approach that integrates cubic observers with adaptive control to enhance the performance of Lipschitz nonlinear multi-agent systems (MASs) subject to simultaneous actuator and sensor faults. The proposed method enables precise real-time fault estimation and state estimation, ensuring accurate system operation. A distributed adaptive control strategy, informed by the cubic observers, dynamically compensates for actuator and sensor faults in multi agent systems, preserving stability and consensus among agents. The controller parameters are systematically derived using Linear Matrix Inequalities (LMIs), providing a rigorous theoretical foundation. Under the above objectives, Lyapunov-based stability analysis guarantees that the tracking errors remain uniformly ultimately bounded and converge over time. Simulation examples validate the effectiveness of the proposed approach, demonstrating consistent performance under simultaneous and time-varying faults. Notably, the Root Mean Square Error (RMSE) analysis confirms that our method performance compared to existing approaches, significantly reducing tracking errors in adverse conditions.

Keywords

Multi-agent systems

Fault-tolerant control

Leader-follower consensus

Actuator and sensor faults

Cubic observer

Linear matrix inequality

Subjects