Command-filter-based distributed containment control of nonlinear multi-agent systems with actuator failures. Issue 7 (3rd July 2018)

• Record Type: Journal Article
• Authors: Cui, Guozeng; Xu, Shengyuan; Ma, Qian; Li, Ze; Chu, Yuming
• Is Part Of: International journal of control. Volume 91:Issue 7(2018)
• Page Start: 1708
• Page End: 1719
• Publication Date: 2018-07-03
• Subjects: Containment control -- nonlinear multi-agent systems -- fault-tolerant control -- command filtered backstepping -- actuator failures; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2017.1327722
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: 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.