Distributed resilient tracking of multiagent systems under actuator and sensor faults

Yanming Wu, Jinguo Liu, Zhanshan Wang, Zhaojie Ju

Research output: Contribution to journalArticlepeer-review


The distributed resilient tracking problem for multiagent systems (MASs) is investigated in the presence of actuator/sensor faults over directed topology. Both actuator fault and sensor fault are taken into account. Meanwhile, using the local information, the fault compensators are introduced. Then, based on the fuzzy-logic systems (FLSs) and modification technique of adaptive law, a novel distributed adaptive resilient control protocol is developed, which can compensate the effect of faults on the actuator and sensor. It turns out that all signals of MASs are bounded, while the tracking errors enter an adjustable bounded region around the origin. Toward the end, two simulations are provided to validate the effectiveness of the theoretical results.

Original languageEnglish
Number of pages12
JournalIEEE Transactions on Cybernetics
Early online date24 Dec 2021
Publication statusEarly online - 24 Dec 2021


  • actuator faults
  • actuators
  • adaptive control
  • automation
  • manufacturing
  • multiagent systems (MASs)
  • observers
  • protocols
  • resilient control
  • robot sensing systems
  • sensor faults
  • vehicle dynamics


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