A Robust Finite-time Fault-tolerant Formation Control of Stochastic Multi-agent Systems in the Mean-Square Sense

This study discusses a robust distributed finite-time formation control of the stochastic Lipchitz multi-agent systems within the actuator fault. Furthermore, the orientation of formation is often adjusted in step with the leader's orientation. The agents are modeled as stochastic nonlinear systems either thanks to their intrinsic behavior or working in a very random vibrating environment. Additionally, biased and effectiveness faults are considered. To cater to these, employing a distributed sliding-mode approach and the infinitesimal operation, a robust finite-time fault-tolerant controller is presented in mean-square sense. Finally, a multi-aircraft model under stochastic wind is used to validate the effectiveness of the offered control law.