Fault-Tolerant Leader-Following Consensus Control for Fully Actuated Multi-agent Systems Based on Prescribed-Time Observer

This paper studies the adaptive distributed leader-following consensus control problem for nonlinear high-order fully actuated (HOFA) multi-agent systems (MASs) with uncertainties and actuator failures. Based on the knowledge of directed graph theory (DGT), a distributed prescribed-time observer is constructed for each follower to estimate the desired leader’s trajectory, which can realize zero-error estimation within any given time. Then, for each follower, by using the adaptive control method and the HOFA system approach, the designed tracking controller can ensure the HOFA MASs realize the leader-following consensus in a cooperatively ultimately uniformly bounded sense. Finally, the simulation studies demonstrate the availability of the proposed schemes.