Prescribed-Time Formation Control of Second-Order Multi-Agent Systems in Presence of Actuator Faults

Abstract

A prescribed-time formation control of second-order multi-agent systems with partial loss of effectiveness of actuator efficiency and bias is proposed in this letter. An adaptive law is proposed to estimate the loss of effectiveness. An estimate of bias is also proposed from the Lyapunov theory. Rigorous mathematical proof with the help of a Lyapunov function is given to show that the closed-loop system augmented with the adaptive law converges to a bounded set in the prescribed time. All the signals are shown to be bounded and convergent to this set. Simulation results are given to demonstrate the effectiveness of the proposed approach.