Fuzzy Adaptive Consensus Control for Nonlinear Multiagent Systems With Intermittent Actuator Faults
针对一类带有间歇性执行器故障的非严格反馈非线性多智能体系统，提出分布式自适应模糊一致性容错控制方案，使跟踪误差渐近收敛到零，并通过单连杆机械臂系统验证了有效性。
This article addresses the distributed adaptive fuzzy consensus fault-tolerant control (FTC) problem for a class of nonstrict-feedback nonlinear multiagent systems (NMASs) with intermittent actuator faults. The NMASs contain unknown nonlinear dynamics, and actuator faults are the type of intermittent faults. Unknown nonlinear functions have been handled based on fuzzy-logic systems (FLSs) approximation, and the distributed virtual controllers together with their parameter adaptive laws are first designed by combining the adaptive backstepping algorithm and the bounded estimation algorithm. To compensate for the intermittent actuator faults, the novel adaptive fuzzy consensus fault-tolerant controllers are then developed by co-designing the last virtual controllers. On the basis of the Lyapunov theory, the stability analysis of the closed-loop system are given, in which the tracking errors converge to zero asymptotically under the directed communication topologies theory. Finally, the proposed FTC scheme is carried on a group of one-link robotic manipulator systems, and its practicability and effectiveness are verified.