Cooperative Fault-tolerant Formation Control for Nonlinear Multi-agent Systems with Actuator Faults

In this paper, the cooperative fault-tolerant formation control problem is investigated for a class of nonlinear leader-follower multi-agent systems (MASS) under actuator faults. A type of decentralized observer is designed for each following agent using the local output information. Then, a new adaptive fault estimator is constructed to estimate the real-time fault signal. Using the obtained state and fault information, a novel fault-tolerant control protocol is given to for stabilizing the closed-loop system. It is shown that the sufficient criteria established can ensure that the formation errors of each agent converges to a small set around the origin. Finally, a simulation example is utilized to illustrate the effectiveness of the proposed fault-tolerant formation control protocol.