Observer and Stochastic Faulty Actuator-Based Reliable Consensus Protocol for Multiagent System

Rathinasamy Sakthivel, Boomipalagan Kaviarasan, Choon Ki Ahn, Hamid Reza Karimi

Research output: Contribution to journalArticlepeer-review

59 Citations (Scopus)


A nondeterministic actuator fault model-based reliable control design method is presented for the leader-following consensus of a multiagent system (MAS) subject to input time-varying delay and the nonlinear phenomenon through the observer framework. Notably, a more generalized practical actuator fault model is proposed where the faults of each actuator are assumed to occur randomly and the fault rates are characterized by stochastic variables that satisfy certain probability conditions. To trace the leader dynamics, a reliable observer-based state feedback consensus algorithm is developed for the pursuing agents. After that, in light of graph theory and the Lyapunov-Krasovskii stability theorem, the required conditions are achieved to guarantee the leader-following consensus of the considered MAS, and then the corresponding reliable controller design method is proposed. Furthermore, simulations are eventually conducted to exhibit the efficiency of the newly developed control scheme, where it is shown that the obtained conditions guarantee the consensus of the considered MAS in the case of possible actuator faults.

Original languageEnglish
Article number8070462
Pages (from-to)2383-2393
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number12
Publication statusPublished - 2018 Dec


  • Actuator faults
  • leader-following consensus
  • multiagent system (MAS)
  • stochastic reliable control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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