Improved prescribed performance fuzzy control for nonlinear multiagent systems with actuator faults and dual input saturations

Abstract

This paper conducts the distributed adaptive prescribed performance fuzzy control design for nonlinear multiagent systems (MASs) subjected to actuator faults and dual input saturations. A unified smooth characterizing function is constructed to approximate a practical input saturations model. Then, with the aid of the mean-value theorem, Nussbaum-type function and boundary estimation method, the distributed saturated fault-tolerant controllers are devised to deal with actuator faults and dual input saturations. In order to achieve excellent tracking performance of followers, an improved prescribed performance control method with a tight constraint region is proposed. Different from most existing control methods, the proposed method not only ensures that the tracking error rapidly converges to the specified area within a predetermined time, but also achieves transient performance without obvious overshoot. Stability analysis proves that the consensus tracking error converges to an arbitrary small specified area within a preset time and all signals of the overall controlled systems are semi-globally uniformly ultimately bounded (SUUB). Eventually, the comprehensive simulation results validate the feasibility and superiority of the control strategy.