Distributed Adaptive Fault-Tolerant Formation of Linear Multi-Agent Systems

In this article, distributed fault-tolerant formation control strategy of linear multi-agent systems (MASs) is studied. An adaptive formation protocol is investigated to eliminate the influence of approximation error by solving several sets of matrix inequalities to obtain the adaptive estimation of fault tolerance factor. It is shown that the formation of the MASs can be reached and the fault can be tolerant. Finally, the designed formation adaptive fault-tolerant control system is verified by simulations.