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Abstract: In this article, a novel approach of prescribed performance synchronization control is developed for heterogeneous nonlinear multiagent systems (MASs) subject to unknown actuator faults.

Abstract: This paper addresses the crucial challenge of maintaining the directed graph topology in multi-robot systems, particularly when operating under limited field-of-view constraints and with a ...

I have made notes on same on my GitHub Repository, more further explanation of the model you can check it out.