Lead-Time Affine Formation Control of Multi-Agent Systems Under Actuator Faults

In this paper, the problem of lead-time affine formation control is investigated for continuous-time multi-agent systems within framework of leader-follower structure. Firstly, a velocity observer is designed to estimate followers' desired velocity. Secondly, a distributed protocol with the velocity estimation is proposed under undirected communication topology. Thirdly, the sufficient condition is given to achieve the lead-time affine formation control under actuator faults, using Lyapunov stability theory and lead-time control theory. Finally, a numerical example is provided to illustrate the effectiveness of the proposed results.