Fault tolerant cooperative control with application to UAV team longitudinal flight

This paper studies the target aggregation problem for a class of multi-agent systems where the dynamics of each agent takes a general affine nonlinear form and interconnection topology is time varying. A neighboring rule-based cooperative control strategy is proposed, and a sufficient aggregation condition is derived. Moreover, it is shown that in the presence of agent faults, the target point is still reached by reconfiguring the cooperative controller. An unmanned aerial vehicle (UAV) team example illustrates the efficiency of the proposed approach.