Distributed Adaptive Formation Control for Fractional-Order Multi-Agent Systems with Actuator Failures and Switching Topologies

In this paper, a class of distributed adaptive formation control problems are investigated for second-order nonlinear fractional-order multi-agent systems with actuator failures and switching topologies. To address these challenges, two adaptive coupling gains based on agents’ position and velocity are incorporated into the control protocol. Using the Lyapunov method along with graph theory and matrix analysis, sufficient conditions for system stability are derived in the presence of actuator failures and switching topologies. The effectiveness of the proposed control protocol is demonstrated through numerical simulations, which show its capability to maintain stable formation control under these challenging conditions.