@inproceedings{a842a229d3b64297bab179894f553d7c,
title = "Intermediate Variable Estimator Based Fault-Tolerant Formation Control of Multi-Agent Hofa Systems",
abstract = "This paper presents a fault-tolerant formation control framework for multi-agent high-order fully actuated (HOFA) systems by incorporating an intermediate variable estimator (IVE). The proposed IVE avoids the classical observer matching conditions and enables simultaneous estimation of the system states and actuator faults with provable convergence. By combining the IVE with the HOFA framework, an adaptive formation-tracking control protocol is developed such that nonlinear followers asymptotically converge to a prescribed formation with respect to the leaders within an arbitrarily small error bound. The controller parameters are determined according to the HOFA methodology, which facilitates the construction of an ideal closedloop linear system. Numerical simulations are provided to verify the effectiveness of the proposed method under different fault scenarios.",
keywords = "Fault-tolerant control, formation control, high-order fully actuated systems, intermediate variable estimator, multiagent systems",
author = "Shiyu Han and Guangren Duan",
note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 ; Conference date: 22-05-2026 Through 24-05-2026",
year = "2026",
doi = "10.1109/FASTA70174.2026.11549167",
language = "英语",
series = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "829--834",
booktitle = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
address = "美国",
}