Formation containment control of multi-agent systems with actuator and sensor faults

This article investigates the fault-tolerant formation containment control of multi-agent systems with actuator and sensor faults. First, adaptive descriptor observers are proposed for the followers to estimate system states, actuator faults, and sensor faults simultaneously. Then, distributed fault-tolerant formation containment controllers are designed based on the estimated values and sufficient conditions for the formation containment control are identified using Lyapunov method in the time domain. Finally, the effectiveness and advantages of the proposed method are demonstrated through numerical simulations.