International Journal of Control, Vol.91, No.7, 1708-1719, 2018
Command-filter-based distributed containment control of nonlinear multi-agent systems with actuator failures
In this paper, the problem of distributed containment fault-tolerant control for a class of nonlinear multi-agent systems in strict-feedback form is studied. The considered nonlinear multi-agent systems are subject to unknown nonlinear functions and actuator faults with loss of effectiveness and lock-in-place. By resorting to the universal approximation capability of fuzzy logical systems, the command filtered backstepping technique and nonlinear fault-tolerant control theory, distributed controllers are designed recursively. From the Lyapunov stability theory, it is proved that all signals of the resulting closed-loop systems are cooperatively semi-globally uniformly ultimately bounded and the containment errors converge to a small neighbourhood of origin by properly tuning the design parameters. Finally, a numerical example is provided to show the effectiveness of the proposed control method.
Keywords:Containment control;nonlinear multi-agent systems;fault-tolerant control;command filtered backstepping;actuator failures