Fault-Tolerant Formation Tracking Control for Multi-Agent Systems with Bearing-Only Measurement

This work investigates the formation control problem relying solely on bearing measurements for multi-agent systems in the two-dimensional plane. In order to achieve the desired geometric formation configuration between leaders and followers subject to actuator faults, this work first proposes a prescribed-time uncertainty observer that enables followers to estimate the uncertainties composed of unknown multiplicative and additive faults within the prescribed time. Then, relying on the uncertainty estimates and the maximum accelerations of the leaders, a bearing-only fault-tolerant formation control scheme is proposed for followers such that all agents asymptotically converge to the target formation. Agents are not required to exchange real-time dynamic information through communication. Furthermore, the stability of the closed-loop system is rigorously proved. Finally, simulation results verify the validity of the designed control schemes.