Cross-Dimensional Fault-Tolerant Control of Heterogeneous Fully Actuated Multiagent Systems Against Hybrid Faults

In most of the existing fault-tolerant control (FTC) results, only a uniform ultimate bound on the tracking error can be guaranteed, while achieving zero tracking error is a more desirable control objective. This article addresses the zero-error formation control problem for cross-dimensional heterogeneous fully actuated MASs subject to hybrid faults consisting of intermittent actuator faults and communication link faults (CLFs). To accurately estimate the leader's state when CLFs are present, distributed observers are developed specifically in the shape of an upper triangular chain of first-order low-pass filters. Then, for the agents with intermittent actuator faults, adaptive fault-tolerant tracking controllers are developed utilizing the fully actuated system (FAS) approach. Based on the Lyapunov stability theory, rigorous theoretical analysis is provided to prove that all signals in the closed-loop system are bounded and the formation errors asymptotically converge to zero. Finally, a simulation example is presented to prove the suggested control strategy's effectiveness.