Fault-tolerant containment control for multi-agent systems with jointly connected topologies

The fault-tolerant containment control issue for multi-agent systems with jointly connected topologies is researched in this paper. The control law, which is constituted of adaptive fault estimation using finite interval projection operator, is constructed to ensure all the follower states can converge to the convex hull formed by the leader states in the multi-agent system with jointly connected topologies in the presence of actuator faults. In addition, compared with the existing results about multi-agent system containment control, not only fault-tolerant control is introduced to solve the problem of system faults, but also the multi-agent system with jointly connected topologies which is more general than fixed topologies is considered. Then, the effectiveness of the controller is proved based on Lyapunov stability theory. Finally, a simulation example is given to verify the validity of the results.