Adaptive fault‐tolerant optimized formation control for perturbed nonlinear multiagent systems

Abstract

AbstractThis article proposes an adaptive fault‐tolerant formation control strategy for strict‐feedback nonlinear multiagent systems with nonlinear faults and external disturbances. A simplified reinforcement learning algorithm is developed for approximating the optimized controller. Different from the existing optimized control results, the system dynamics is totally unknown in this article. In order to surmount “explosion of complexity”, the dynamic surface control technique is employed. A disturbance‐fault observer is employed to alleviate the influence caused by the external disturbances and the impact coming from the nonlinear faults. Based on the Lyapunov stability theorem, it can be demonstrated that all signals within the closed‐loop systems are semiglobal uniformly ultimately bounded and the optimized formation control performance can be guaranteed. Finally, some simulation results are exhibited the validity of the developed control method.