Distributed Fault-Tolerant Time-Varying Formation Control for Second-Order Multi-Agent Systems With Actuator Failures and Directed Topologies

This brief investigates the distributed fault-tolerant time-varying formation control problems for second-order multi-agent systems with directed interaction topologies in the presence of both bias and loss of effectiveness actuator failures. Using the adaptive updating mechanism and the boundary layer theory, a continuous fault-tolerant formation control protocol is constructed to compensate for the actuator failures and the derivative of the time-varying formations. The proposed protocol is totally distributed without requiring any global knowledge about the interaction topologies or the bounds of the actuator failures. The formation feasible condition is provided, and it is proved that the formation errors are uniformly bounded and can converge to an adjustable small neighborhood of zero by the proposed continuous protocol under the influences of actuator failures.