Fault-tolerant time-varying formation tracking for second-order multi-agent systems with actuator faults and a non-cooperative target ?

摘要

Fault-tolerant time-varying formation tracking problems for second-order multi-agent systems with actuator faults and a non-cooperative target are studied. The followers can accomplish the given formation and track the trajectory of the target at the same time. A fault-tolerant time-varying formation tracking protocol is constructed for each follower by using the neighboring information firstly. Based on the adaptive mechanism, the proposed protocol is independent of any global information about the topology and the bounds of actuator failures. Then, in light of Lyapunov theory, it is proved that the desired formation tracking can be achieved by the followers under the influences of actuator failures and the unknown control input of the target. Finally, the theoretical results are verified by a simulation example.