Adaptive fault-tolerant time-varying formation tracking for multi-agent systems under actuator failure and input saturation

This paper studies the time-varying formation tracking problem for general linear multi-agent systems with multiple leaders in the presence of both actuator failure and input saturation. The followers are required to uniquely determine and track the convex combination of the states of leaders, while maintaining a predefined time-varying formation. A hyperbolic tangent function is firstly introduced to modify the actuator model with input...