Distributed fault-tolerant tracking control for multi-agent system in the environments with obstacles

This paper investigates the problem of collision-free coordination tracking control for multi-agent system under modeling uncertainties, actuator faults and disturbances. By syncretizing the Null-Space-based Behavioral (NSB) control and finite-time control method, a novel reference velocity signal is predesigned to achieve finite-time obstacle avoidance and coordination tracking. Then a set of finite-time coordination control laws are presented to guarantee all the agents to track a dynamic target while avoiding obstacles/collisions. Finally, numerical simulation is presented to demonstrate the efficacy of the control strategy.