Dynamic formation tracking and fault-tolerant control of multi-agent systems based on distance and topology reconstruction methods

This paper introduces a distributed approach for dynamic formation tracking and formation fault-tolerant control within the port-Hamiltonian energy framework for multi-agent system (MAS) affected by Coulomb friction. The coupling relationships between agents are equivalently modeled as virtual springs, which simulate the interaction forces between agents to reflect the relative positions and motion states of the agents. A distance-based distributed control scheme is designed, to ensure that the formation composed of multiple agents can continuously adjust the direction and size of the formation while achieving target tracking. Additionally, considering the possibility of communication failure due to agent motion faults, a fault-tolerant algorithm based on topological reconstruction is proposed to reconstruct the formation topology after faults. The feasibility of this control method is verified through numerical simulations.