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Mathematical Problems in Engineering
Volume 2015, Article ID 783275, 8 pages
Research Article

Extremum Seeking Based Fault-Tolerant Cooperative Control for Multiagent Systems

School of Information Science and Engineering, Central South University, Changsha 410075, China

Received 18 July 2014; Revised 17 October 2014; Accepted 27 October 2014

Academic Editor: Fanglai Zhu

Copyright © 2015 Fu Jiang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We propose a novel fault-tolerant cooperative control strategy for multiagent systems. A set of unknown input observers for each agent are constructed for fault detection. Then a real-time adaptive extremum seeking algorithm is utilized for adaptive approximation of fault parameter. We prove that the consensus can be still reached by regulating the interconnection weights and changing the connection topology of the fault agent. A numerical simulation example is given to illustrate the feasibility and effectiveness of the proposed method.