Adaptive fault tolerant tracking control of heterogeneous multi-agent systems with non-cooperative target

Abstract

In this paper, the problem of tracking a non-cooperative target by heterogeneous multi-agent systems(MASs) with actuator faults is studied. Since the target is non-cooperative, the system matrix of the target is unavailable. Hence, the existing results dealing with consensus problem of heterogeneous multi-agent based on known exosystem matrix are inapplicable. A neural-network-based adaptive observer is designed for estimating the output of the non-cooperative target. Then, a finite-time adaptive fault tolerant controller is developed to resolve the heterogeneous target tracking problem in the presence of actuator faults. The tracking errors can converge within finite time. The proposed controller is fully distributed, thereby no longer requiring the system matrix of the target and actuator fault rates of the tracking agents. Finally, the effectiveness of the developed strategies and the correctness of achieved stability conditions are verified by some numerical examples.