# Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems

arXiv: https://arxiv.org/abs/1505.05537 · HTML: https://mlsanity.com/paper/1505.05537/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 May 2015.

## Built on by (most cited first, 1 of 1)

- [Review on Fault Diagnosis and Fault-Tolerant Control Scheme for Robotic Manipulators: Recent Advances in AI, Machine Learning, and Digital Twin](https://mlsanity.com/paper/2402.02980/) (2024)

## Abstract (arXiv)

This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC scheme consists of a fault diagnosis module and a reconfigurable controller module comprised of a baseline controller and two adaptive fault-tolerant controllers activated after fault detection and after fault isolation, respectively. Under certain assumptions, the closed-loop system's stability and leader-follower consensus properties are rigorously established under different modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation.