Fault-tolerant containment control of uncertain nonlinear systems in strict-feedback form

Abstract

Summary This paper investigates the containment control problem of uncertain nonlinear strict-feedback systems in the presence of actuator faults. The communication topology among the agents is directed, and there exists at least one leader that has a directed path to each follower. Based on fuzzy logic systems and the dynamic surface control technique, a fault-tolerant containment control scheme is developed to guarantee that the outputs of all followers converge to the convex hull spanned by multiple dynamic leaders with bounded containment errors. The result is extended to a fault-tolerant containment control with prescribed performance, such that the error surfaces are confined to predefined bounds regardless of actuator faults. Simulation results are provided to illustrate the effectiveness of the proposed methods. Copyright © 2016 John Wiley & Sons, Ltd.