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Fault-tolerant time-varying formation control for second-order multi-agent systems with directed topologies

This paper studies the fault-tolerant time-varying formation control problems for second-order multi-agent systems with directed topologies. Both bias and loss of effectiveness fault modes are considered. Firstly, a totally distributed fault-tolerant formation control protocol is presented using the adaptive updating gain. The proposed protocol is independent of any global information about the interaction topologies or the bounds of the actuator failures. Then the formation feasible condition is given, and it is proven that the desired formation can be achieved by the multi-agent system based on the Lyapunov stability theory. Finally, a simulation example is provided to demonstrate the effectiveness of the theoretical results.