Time-varying output formation tracking of heterogeneous linear multi-agent systems under sensor and actuator faults

The time-varying output formation tracking (TVFT) problem of the heterogeneous multi-agent systems (HMASs) under sensors and actuators faults is studied in this paper. To weaken the impact of sensor and actuator faults, an adaptive controller based on fault compensation is proposed. Since only partial state information is known, the state observers based on received output information are designed. Applications to unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) air-ground coordination problem on Matlab and Gazebo are proposed to validate the theoretical results.