Adaptive Containment Control for Heterogeneous MIMO Nonlinear Multiagent Systems With Unknown Direction Actuator Faults

Abstract

In this article, a novel output-feedback adaptive containment control scheme is proposed for a class of heterogeneous multi-agent systems, where the agents are nonlinear multi-input multi-output (MIMO) systems whose relative degrees are allowed to be different. Unlike existing results, we only require the leading principal minors of agents' control gain matrices (CGMs) to be nonzero and take into account unknown direction actuator faults, which relaxes the restrictions on CGMs and enhances system reliability. The difficulties jointly caused by the unknown CGMs, unknown parameters, and unknown jumps introduced by the actuator faults are successfully overcome by a novel recursive contradiction argument based on some Nussbaum functions and a matrix similarity transformation. Moreover, an event-triggering mechanism is introduced to avoid continuous communication among agents and reduce the communication burden. It is shown that all closed-loop signals are globally uniformly bounded and the containment errors converge to a residual set that can be made arbitrarily small. Simulation results illustrate the effectiveness of the proposed scheme.