Distributed Adaptive Fuzzy Coordination Control of Heterogeneous Non-affine Nonlinear Leader-Following Systems Under Unreliable Communication Environments

The distributed adaptive fuzzy coordination control (DAFCC) method for the leader-following for non-affine nonlinear (NAN) multi-agent systems (MASs) with actuator failures (including partial failures and actuator bias failures) under the unreliable switching communication environments is proposed in this article. First, based on the neighborhood state information, a group of distributed reference observer (DRO) is constructed so that all followers can easily estimate the leader’s information. Second, the implicit function theorem and the mean value theorem are utilized to convert the non-affine term into the corresponding affine term in order to solve the non-affine term in the NAN system. Third, to achieve global synchronization, we design an adaptive fuzzy coordination fault-tolerant controller with local estimation. Besides, the DAFCC method presented in this paper solves the cooperative control problem when switching undirected networks with intermittent communications. Finally, simulation is used to validate the effectiveness of the algorithm.