Abstract
In this paper, an adaptive fuzzy containment condtrol is considered for nonlinear multiagent systems, in which it contains the unknown control coefficient and actuator fault. The uncertain nonlinear function has been approximated by fuzzy logic system (FLS). The unknown control coefficient and the remaining control rate of actuator fault can be solved by introducing a Nussbaum function. In order to avoid the repeated differentiations of the virtual controllers, first-order filters are added to the traditional backstepping control method. By designing the maximum norm of ideal adaptive parameters, only one adaptive parameter needs to be adjusted online for each agent itself. An adaptive fuzzy containment controller is constructed through the backstepping control technique and compensating signals. It is demonstrated that all the signals in nonlinear multiagent systems are bounded by designing adaptive fuzzy containment controller, and all followers can converge to the convex hull built by the leaders. The simulation studies can further confirm the effectiveness of the proposed control method in this paper.
Highlights
With the development of science and technology, more and more complex systems can be described as multiagent systems (MASs), for instance, unmanned aerial vehicle formation, sensor networks, and disaster emergency response. erefore, the cooperative control problem of MASs has been extensively concerned by scholars and gradually become one of the hot issues in the control field
According to different control objectives, the cooperative control of MASs is classified as flocking control [4], consensus control [5, 6], formation control [7], synchronous control [8], containment control [9, 10], and so on
There have been no results on adaptive fuzzy fault-tolerant containment control method for uncertain nonlinear MASs with unknown control coefficient and external disturbance
Summary
With the development of science and technology, more and more complex systems can be described as multiagent systems (MASs), for instance, unmanned aerial vehicle formation, sensor networks, and disaster emergency response (see [1,2,3]). erefore, the cooperative control problem of MASs has been extensively concerned by scholars and gradually become one of the hot issues in the control field. Complexity system and single-link flexible manipulators [23] were modeled as third-order and fourth-order nonlinear systems, respectively It is of theoretical and practical value to study the containment control of high-order systems. Adaptive neural networks (NNs) backstepping control was studied for uncertain strict-feedback nonlinear systems with input delay in [29]. Actuator faults are inevitable in industrial systems, especially for MASs. But, so far, there have been no results on adaptive fuzzy fault-tolerant containment control method for uncertain nonlinear MASs with unknown control coefficient and external disturbance. Is article focuses on the adaptive fuzzy containment control problem for uncertain nonlinear MASs with unknown control coefficient and actuator fault. (1) It is the first time to construct adaptive fuzzy containment controllers for uncertain nonlinear MASs with unknown control coefficient and actuator faults. In this paper, instead of estimating the optimal parameter vectors themselves but by estimating the maximum value of the norm of the optimal parameter vectors, the number of adaptive laws is greatly reduced
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