Intermediate Variable Estimator-based Fault-tolerant Formation Control of Multi-agent Systems with Multiple Leaders

This paper addresses the distributed fault-tolerant formation control problem for a multi-leader systems subject to process faults. A fault estimation observer based on intermediate variables is utilized, in which the observer matching condition is not necessary. The fault estimation values obtained by the observer are applied to reconstruct the controller. By solving linear matrix inequalities and applying the Schur complement theorem, the observer gains are obtained. Subsequently, the controller gains are designed based on the properties of the Laplacian matrix and adaptive techniques. Finally, the effectiveness of the proposed scheme is verified through numerical simulations.