Prescribed-Time Fault-Tolerant Control for Fully Actuated Heterogeneous Multiagent Systems: A Hierarchical Design Approach

The formation control of heterogeneous multiagent systems that are subjected to actuator faults is addressed in this work. To prevent the spread of faults among agents, a hierarchical design approach is utilized. In the upper layer, distributed prescribed-time observers are presented to estimate the leader's trajectory for followers on directed graphs. In the lower layer, adaptive fault-tolerant controllers are provided for the heterogeneous multiagent systems subjected to partial effectiveness loss faults based on the fully actuated system model. Contrary to the results of fault-tolerant control that are already in use, the proposed method enables formation errors to zero within a predetermined time that can be set freely. What is more, the estimated errors of efficiency factors are bounded. Finally, simulation results are provided to show the suggested protocol's availability.