Command-filter-based distributed containment control of nonlinear multi-agent systems with actuator failures |
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Authors: | Guozeng Cui Qian Ma Ze Li Yuming Chu |
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Affiliation: | 1. School of Automation, Nanjing University of Science and Technology , Nanjing, Jiangsu, P.R. China;2. School of Mechanical and Electrical Engineering, Suzhou University of Science and Technology , Suzhou, P.R. China;3. School of Science, Huzhou Teachers College , Huzhou, Zhejiang, P.R. China |
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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. |
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Keywords: | Containment control nonlinear multi-agent systems fault-tolerant control command filtered backstepping actuator failures |
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