Fault-Tolerant Containment Control for Linear Multi-Agent Systems: An Adaptive Output Regulation Approach

This paper addresses the problem of fault-tolerant containment control (FTCC) for linear multi-agent systems (MASs) with process faults. First, distributed observers for followers are designed by utilizing their relative output estimation errors. Then, a new distributed adaptive FTCC law based upon the output regulation theory is proposed, where a distributed adaptive observer is implemented to estimate the synthesized information for leaders. It is shown that no matter whether there exist faults or not, all the followers can asymptotically move into a convex hull formed by the leaders. Finally, an example is given to illustrate the effectiveness of the designed distributed control law.