Fault-Tolerant Time-Varying Formation Tracking Control for Multi-Agent Systems With Actuator Faults and Switching Topologies

In this paper, the fault-tolerant time-varying formation tracking control problem for high-order linear multi-agent systems with multiple leaders is studied in the case of actuator faults and switching topologies, where the control inputs of the leaders are unknown. Followers form a predefined formation while tracking the convex combination of the states of the multiple leaders. Based on the adjacent relative information of agents, a fault-tolerant time-varying formation control protocol is constructed to compensate for the bias fault, loss of effectiveness fault, and unknown control inputs of the leaders. The feasible conditions of formation are given. In addition, a new algorithm is proposed to determine the parameters of the formation control protocol. The stability of the closed-loop system is proved based on Lyapunov theory. Finally, the effectiveness of the theory is verified by simulations.