Fuzzy adaptive fault-tolerant control of multi-agent systems with interactions between physical coupling graph and communication graph

Abstract

This paper considers the fuzzy fault-tolerant control problem for multi-agent systems with interactions between physical coupling graph and communication graph. The dynamics of agents are interconnected by a signed physical coupling graph and the control protocols are computed by using the information flow prescribed in a signed communication graph. A novel fuzzy adaptive fault-tolerant control method for agents with antagonistic interactions to achieve bipartite consensus is proposed firstly, in the presence of actuator bias faults and unknown nonlinear functions. Different from the traditional method to estimate the weight matrix, only the weight vector needs to be estimated by exchanging the order of weight vectors and fuzzy basis functions in the fuzzy logic systems. Finally, a simulation example is given to illustrate the effectiveness of the proposed controller.