Actuator Fault Recovery in Formation Control of Uncertain Multi-agent Systems on the Lie Group SE(3)

This paper proposes an adaptive supper twisting sliding mode strategy for formation control of multi-agent systems evolving on the Special Euclidean group. The proposed controller is deemed decentralized and deals with actuator fault and matched uncertainties in the agents’ inertia parameters. The introduced control is designed based on the local neighboring information of each agent. The formation convergence is studies using the Lyapunov’s stability theorem. A simulation example is provided to evaluate the performance of the proposed approach.