Distributed Adaptive Fault-Tolerant Control of a Class of High-Order Nonlinear Uncertain Multi-Agent Systems

This paper presents an adaptive-approximationbased distributed leader-following fault-tolerant tracking control scheme for a class of high-order nonlinear uncertain multiagent systems. The time-varying leader only communicates to a small portion of follower agents through directed links, and each follower agent exchanges measurement information only with its neighbors through a bidirectional but asymmetric topology. Under certain assumptions, the closed-loop stability and asymptotic leader-follower tracking properties are rigorously established even in the presence of multiple