Distributed Adaptive Fault-Tolerant Formation Control of Second-Order Multi-Agent Systems with Actuator Faults

Abstract

This paper presents an adaptive fault-tolerant control (FTC) scheme for leader-follower formation of uncertain secondorder mobile agents with actuator faults. A local FTC component is designed for each agent in the distributed system by using local measurements and suitable information exchanged between neighboring agents. Each local FTC component consists of a fault detection module and a reconfigurable controller module comprised of a baseline controller and an adaptive fault-tolerant controller activated after fault detection. Under certain assumptions, the closed-loop system stability and leader-follower formation properties of the distributed system are rigorously established under different modes of behavior of the FTC system. A simulation example is used to illustrate the effectiveness of the FTC method.