Prescribed-Time Fault-Tolerant Formation for Heterogeneous Switched Multiagent Systems

This article investigates the prescribed-time fault-tolerant formation (PTFTF) control problem for heterogeneous switched nonlinear multiagent systems (HSNMASs) with actuator faults. In particular, the system under consideration exhibits both heterogeneity and switching dynamics, and operates over a directed topology. A novel PTFTF protocol that includes two adaptive laws and an auxiliary system is proposed by introducing a time-varying function. It is noteworthy that the constructed auxiliary system can effectively address the heterogeneity and switching characteristics of the system. Fuzzy logic systems (FLSs) are utilized to approximate potentially unknown nonlinear functions that are not required to satisfy the specific growth conditions. Notably, the adaptive law, newly designed as a key part of the protocol, eliminates the adverse effects of fuzzy approximation errors, ensuring that formation errors converge to zero within any given time. Finally, the effectiveness of the proposed protocol is demonstrated through both numerical and comparative simulations.