Adaptive Distributed Observer-based Model Predictive Control for Multi-Agent Formation with Resilience to Communication Link Faults

To address the nonlinear multi-agent formation tracking problem with input constraints and unknown communication faults, this paper develops a novel adaptive distributed observer-based model predictive control (MPC) method. The design integrates adaptive distributed observers into local control systems to estimate the leader's state, dynamics, and desired displacement. By utilizing the observed information to construct local references, the original distributed formation tracking problem is decomposed into fully localized tracking control tasks, efficiently handled by local MPC controllers. This design enhances resilience against communication faults while simplifying the distributed MPC formulation.