Distributed low-complexity fault-tolerant consensus tracking of switched uncertain nonlinear pure-feedback multi-agent systems under asynchronous switching

Abstract

This paper addresses a distributed low-complexity design problem for ensuring preassigned fault-tolerant consensus tracking quality of uncertain switched nonlinear pure-feedback multi-agent systems under arbitrary and asynchronous switching. Switched non-affine nonlinearities and unexpected nonlinear and actuator faults of each system are assumed to be unknown. Compared with existing results in the literature, the main contribution of this paper is to provide a simplified robust control strategy to deal with asynchronously switched nonlinearities and faults among systems in the consensus tracking field. Using nonlinearly transformed error surfaces and the common Lyapunov function method, a common robust consensus tracking design strategy is established to ensure the preassigned fault-tolerant consensus tracking performance and the system reliability on the switched faults, without using any adaptive fault compensation techniques based on neural networks or fuzzy logic systems. It is shown that the distributed consensus tracking errors remain within preselected bounds even at switching and fault occurrence instants and finally converge to a preselected neighborhood of the origin.