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Mathematics
Volume 13
Issue 22
10.3390/math13223582
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Data-Driven Fully Distributed Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems: An Observer-Based Approach

by
Yuyang Zhao
1,
Dongnan Li
2,
Yunlong Li
3,
Dawei Gong
1,4,*,
Jiaoyuan Chen
1,
Shijie Song
5 and
Minglei Zhu
5
1
School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
2
Heilongjiang Provincial Climate Center, Harbin 150030, China
3
The Third Military Representative Office of the Air Force Armaments Department in Harbin, Harbin 150000, China
4
School of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, China
5
Institute of Smart City and Intelligent Transportation, Southwest Jiaotong University, Chengdu 614202, China
*
Author to whom correspondence should be addressed.
Mathematics 2025, 13(22), 3582; https://doi.org/10.3390/math13223582 (registering DOI)
Submission received: 9 September 2025 / Revised: 31 October 2025 / Accepted: 6 November 2025 / Published: 7 November 2025
(This article belongs to the Special Issue Intelligent Control and Applications of Nonlinear Dynamic System)
Versions Notes

Abstract

This paper introduces a novel observer-based, fully distributed fault-tolerant consensus control algorithm for model-free adaptive control, specifically designed to tackle the consensus problem in nonlinear multi-agent systems. The method addresses the issue of followers lacking direct access to the leader’s state by employing a distributed observer that estimates the leader’s state using only local information from the agents. This transforms the consensus control challenge into multiple independent tracking tasks, where each agent can independently follow the leader’s trajectory. Additionally, an extended state observer based on a data-driven model is utilized to estimate unknown actuator faults, with a particular focus on brake faults. Integrated into the model-free adaptive control framework, this observer enables real-time fault detection and compensation. The proposed algorithm is supported by rigorous theoretical analysis, which ensures the boundedness of both the observer and tracking errors. Simulation results further validate the algorithm’s effectiveness, demonstrating its robustness and practical viability in real-time fault-tolerant control applications.
Keywords: MFAC; nonlinear MASs; consensus control; fault-tolerant control; observer-based control; data-driven control MFAC; nonlinear MASs; consensus control; fault-tolerant control; observer-based control; data-driven control

Share and Cite

MDPI and ACS Style

Zhao, Y.; Li, D.; Li, Y.; Gong, D.; Chen, J.; Song, S.; Zhu, M. Data-Driven Fully Distributed Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems: An Observer-Based Approach. Mathematics 2025, 13, 3582. https://doi.org/10.3390/math13223582

AMA Style

Zhao Y, Li D, Li Y, Gong D, Chen J, Song S, Zhu M. Data-Driven Fully Distributed Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems: An Observer-Based Approach. Mathematics. 2025; 13(22):3582. https://doi.org/10.3390/math13223582

Chicago/Turabian Style

Zhao, Yuyang, Dongnan Li, Yunlong Li, Dawei Gong, Jiaoyuan Chen, Shijie Song, and Minglei Zhu. 2025. "Data-Driven Fully Distributed Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems: An Observer-Based Approach" Mathematics 13, no. 22: 3582. https://doi.org/10.3390/math13223582

APA Style

Zhao, Y., Li, D., Li, Y., Gong, D., Chen, J., Song, S., & Zhu, M. (2025). Data-Driven Fully Distributed Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems: An Observer-Based Approach. Mathematics, 13(22), 3582. https://doi.org/10.3390/math13223582

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