Distributed fault-tolerant adaptive flocking control of multi-agent system with model perturbation and actuator failure

This paper investigates the fault-tolerant flocking control problem for a class of multi-agent system including uncertainty, disturbance and actuator fault, which make it hard to design the fault-tolerant control law for agents. We propose a novel distributed flocking control law combining the cooperative protocol and the robust adaptive mechanism using parameter updating. Design of the control parameters is then addressed to achieve the velocity consensus and the fault-tolerance against failure. Simulation results illustrate the rationality and feasibility of the proposed method.