Actuator-fault-tolerant trajectory tracking control for multi-robot system under directed network topologies and communication delays

The synchronized trajectory tracking control problem of multiple mobile robots under actuator faults is studied in this paper. We take the communication delays into consideration in system design and do not require that the network topology is symmetric. A distributed control design approach is proposed by incorporating the synchronized formation control method and a sufficient condition is obtained to guarantee the asymptotic convergence of both the position error and synchronization error of each robot. Simulation results validate that the proposed approach achieves synchronized trajectory tracking tasks under unidirectional topologies with actuator faults and coupling delays.