Distributed formation tracking for multi-agent systems with actuator faults

Multi-agent systems (MASs) can represent a class of unmanned systems, which contain more intelligent agents. This paper mainly focus on the formation control of MASs with multiple leaders. Based on the output information of the adjacent followers, the corresponding observer is proposed to compensate effect of actuator faults. Then, a distributed formation control protocol is developed for MASs by the adaptive updating fault estimator, and the feasible condition of formation is introduced. Moreover, the sufficient criterion is established and the formation errors are constrained to a bounded region around the origin. Finally, numerical simulation examples are shown to illustrate the control strategies.