Distributed adaptive fault-tolerant control of a class of high-order nonlinear uncertain multi-agent systems

This paper presents an adaptive-approximation-based distributed leader-following fault-tolerant tracking control scheme for a class of high-order nonlinear uncertain multiagent systems. The time-varying leader only communicates to a small portion of follower agents through directed links, and each follower agent exchanges measurement information only with its neighbors through a bidirectional but asymmetric topology. Under certain assumptions, the closed-loop stability and asymptotic leader-follower tracking properties are rigorously established even in the presence of multiple simultaneous process and actuator faults in distributed agents.