Abstract
In this paper, a leader-following formation control for second-order multi-agent systems under communication faults/failures is presented. Communication faults/failures are considered dependent on the distance between the agents as smooth time-varying delays. Linear matrix inequality conditions are obtained for computing a control gain which guarantee stability when communication faults occur. Under the framework of control synthesis applied to time-varying delay multi-agent systems, the main contribution in this paper is the design of a leader-following formation control for second-order multi-agent systems such that all the faulty agents achieve the trajectories of a virtual agent and maintain a desired formation despite communication faults. A comparison between the classical formation control and our strategy is considered through numerical examples.
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