Distributed Fault-Tolerant Formation Tracking Control of Multi-Agent Systems with Heterogeneous Uncertainties

This paper addresses the distributed adaptive fault-tolerant formation tracking control (DAFTFT) issue for multi-agent systems (MASs) with heterogeneous uncertainties under directed graphs. The goal is to develop a DAFTFT control protocol which ensures system stability and achieves the desired formation, even in the presence of follower systems' actuator faults, external disturbances, parameter uncertainties, and leader's unknown control inputs. Using Lyapunov stability theory, sufficient conditions for achieving the desired formation are formulated via solving a Riccati equation. The proposed DAFTFT control protocol can guarantee that the formation error converges to zero. Numerical simulations are performed to verify the theoretical results.