Abstract
This paper considers the time-varying formation control for heterogeneous multi-agent systems (MASs) with actuator faults. The MASs conclude unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). The communication network of the MASs is a strongly connected directed graph. Firstly, UAVs and UGVs are simplified to second-order models. An adaptive direct fault compensation control scheme is developed to settle the problem of time-varying formation control for two-dimensional model of UAVs and UGVs with actuator faults. Similarly, control protocols are proposed to address the consensus of Z-axis model of UAVs afterwards. Finally, Simulation results verify the feasibility and effectiveness of the designed control laws.
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