Adaptive Fault-Tolerant Control of Heterogeneous Multi-Agent Systems with Actuator Faults

In this paper, the time-varying formation control of heterogeneous multi-agent systems (HMASs) under a virtual leader is studied. The HMASs consist of an unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). A fault-tolerant control mechanism based on adaptive technique and the radial basis function neural networks (RBFNNs) is proposed. In addition to the time-varying formation control of HMAS, the proposed control method can also accomplish the attitude control of the UAV. Finally, the effectiveness of the controllers is validated by simulation results.