Fault-tolerant cooperative tracking control for second-order nonlinear multi-agent systems with actuator faults

In this paper, fault-tolerant cooperative tracking control for a class of second-order nonlinear multi-agent systems with loss of actuator effectiveness faults is addressed. The communication topology among the leader-follower multi-agent systems is any directed graph, which contains at least a directed spanning tree with the leader as the root agent. For each follower, a fully distributed fault-tolerant cooperative tracking protocol, which depends on the relative position and relative velocity between itself and its neighbours, is proposed to guarantee that its position and velocity can track with the leader's the position and velocity, respectively. At last, a simulation example is presented to demonstrate the validity of the designed fault-tolerant cooperative protocol.