Distributed Adaptive Fuzzy Fault-Tolerant Containment Control for Heterogeneous Nonlinear Multiagent Systems

This article is concerned with the problem of distributed adaptive fuzzy fault-tolerant containment control (FTCC) for a class of heterogeneous nonlinear multiagent systems with actuator faults and external disturbances. Two FTCC strategies are proposed for two different cases, i.e., leader's input can be obtained by its neighboring follower agents and the input of the leader is not available by any followers, respectively. In the first case, a distributed observer-based adaptive FTCC protocol is presented to achieve the containment control objective. In the second case, a distributed adaptive FTCC method which is independent of global information about the communication topology and upper bounds of the leader's input is developed using the local containment error. An auxiliary controller gain is proposed to solve the problem of partial loss of effectiveness faults, and the potential singularity brought by the auxiliary controller gain to the controller can be avoided by introducing a projection operator. It is shown that each follower converges asymptotically to a convex hull spanned by the leaders with external input. Finally, the developed method is demonstrated by simulation results.