Integrated active fault-tolerant formation control for networked multi-agent systems

This paper focuses on the design and simulation of an integrated reconfigurable control strategy for networked multi-agent systems. The control task is to remain the desired time-varying formation in the presence of actuator faults, and to well address the pairing between fault estimation and reconfigurable formation control. A decentralized fault estimation method using observer based estimator is presented to estimate both additive and multiplicative fault values. The reconfigurable control is constructed by adaptive technique using a distributed strategy. Only the information from neighboring agents as well as the fault values are required. The adaptive gains and fault estimates are designed by analyzing the Lyapunov stability of the overall system. The simulation results validate that the proposed integrated fault-tolerant formation control scheme can recover the original desired formation if there are faulty agents in system.