Fault-Tolerant Formation Tracking of Heterogeneous Nonlinear Multi-Agent Systems with Time-Varying Actuator Faults

摘要

This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults. In the directed leader-follower network, only a small subset of agents can receive the nonlinear leader’s information. The aforementioned setting improves the practical relevance of addressed problem and meanwhile, it poses technical challenges to the controller design and asymptotic convergence analysis. By introducing a distributed estimation and control framework, a novel distributed control law using a Nussbaum gain technique is developed to achieve robust fault-tolerant formation tracking for heterogeneous nonlinear multi-agent systems over a digraph with a spanning tree. Numerical simulation results are given to verify the effectiveness of the proposed method.