Distributed Adaptive Fault-Tolerant Formation–Containment Control With Prescribed Performance for Heterogeneous Multiagent Systems

This article proposes a distributed adaptive fault-tolerant formation–containment control with prescribed performance for heterogeneous multiagent systems (MASs) consisting of multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults. First, utilizing the neighborhood formation error information, the distributed fault-tolerant formation control strategy is developed for the trajectory dynamics of each UAV to achieve the formation tracking, that is, all UAVs track the virtual leader and perform the prespecified formation configuration. Then, the adaptive fault-tolerant containment algorithm, independent of the positions of the leaders, is proposed to guarantee the UGVs converge to the convex hull formed by the leader UAVs. The adaptive estimation scheme is constructed to compensate for the unknown system parameters and actuator loss-of-effectiveness and bias faults. The formation–containment tracking performance is analyzed based on Lyapunov theory with the synchronization errors satisfying the prescribed performance. A simulation example based on UAVs–UGVs systems is adopted to verify the effectiveness of the proposed control strategy.