Connectivity-preserving rendezvous for networked lagrange systems with actuator faults

In this paper, we investigate fault-tolerant coordination with connectivity preservation for multiple unknown Euler-Lagrange systems under actuator faults. The uncertainties and actuator faults may change the states of agents and therefore violate the network connectivity. Compared with existing works, the existence of inherent nonlinearities, disturbances, and un-detectable actuation faults makes the control coefficients become unknown and time-varying, making the distributed controller designs and asymptotic stability analysis challenging. We propose a gradient-based distributed adaptive control framework to achieve fault-tolerant rendezvous and preserve the network connectivity. Numerical simulations with a time-varying actuator fault case are presented to illustrate the effectiveness of the proposed designs.

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