Adaptive cooperative output tracking control for input and output constrained multiagent systems with actuator faults

In this work, we present a novel adaptive fault tolerant cooperative output tracking control scheme for a class of high-order nonlinear multiagent systems with a time-varying active leader, subject to constraints on the control input and agents' output. Each follower node has distinct nonlinear dynamics with both parametric and nonparametric uncertainties. Both multiplicative and additive actuator faults are considered. We show that under the proposed scheme, exponential convergence of the cooperative output tracking error into a small set around zero is guaranteed, while the constraint requirements on the system output will not be violated during operation, despite the presence of actuator faults and system uncertainties. State vectors of the agents and all other closed loop signals are shown to be bounded. An illustrative example is presented to further demonstrate the effectiveness of the proposed cooperative output tracking control scheme.