Neuro-adaptive time-varying formation control of linear multi-agent systems under fault-tolerant and switching topologies

This paper addresses the time-varying formation (TVF) control problem for linear multi-agent systems (MASs) with nonlinear dynamics, actuator bias and loss-of-effectiveness faults, and switching communication topologies. First, a novel distributed observer is developed to estimate follower states via neighboring interactions. Then, a controller is designed to achieve the desired TVF tracking. By neural network (NN) approximation and Lyapunov stability theory, adaptive control gains are derived under a formation tracking feasibility condition. Finally, simulation results validate the derived theoretical results.