Distributed adaptive output feedback control of uncertain multi-agent systems with actuator faults and communication delays

In this paper, a distributed adaptive output feedback control scheme is proposed to solve output consensus regulation problem of multi-agent systems with parameter uncertainties and loss of effectiveness type of actuator faults. We suppose that i) only a subset of the subsystems can access the desired set value directly, ii) the communication conditions among all the subsystems are represented by a directed graph, where a constant unknown delay exists between every two connected subsystems. Based on only output and input information collected from its neighbors, external estimators can be designed in each subsystem to effectively account for the unmeasurable states and unknown parameters involved in its neighboring subsystems' models. By choosing appropriate Lyapunov-Krasovskii function, the effects due to unknown constant communication delays can be compensated. It is shown that all the closed-loop signals are globally uniformly bounded and all the subsystem outputs will be regulated to the set-point asymptotically.