Adaptive cooperative fault-tolerance tracking control for multi-agent system with hybrid actuator faults and multiple unknown control directions

Abstract

This paper investigates the cooperative fault-tolerant control for the nonlinear multi-agent system with hybrid actuator faults and multiple unknown control directions based on robust adaptive fuzzy sliding mode technology (RAFSMT). Firstly, a piecewise Nussbaum function is proposed to solve the multiple unknown control directions, and the robust adaptive fuzzy technique is designed to handle the nonlinear uncertainty in the system. Meanwhile, a first-order sliding mode differentiator is introduced, and it is combined with the adaptive backstepping technique to obtain the first-order derivative of the virtual control law. Moreover, a robust bounded method is used to improve the convergence speed and tracking accuracy of the designed adaptive cooperative controller. Then, the designed controller can effectively solve the fault-tolerant tracking control problem of multi-agent systems with hybrid actuator faults and unknown control directions. Compared with the methods in other references, the proposed method can make the system still maintain a good tracking effect with small steady-state error, short response time, and good fault tolerance. Finally, the effectiveness of the proposed method is verified by the comparison of simulation examples.