Cooperative Fault-Tolerant Containment Control for Nonlinear Multiagent Systems With Switching Directed Topologies Based on Hierarchical Mechanism
针对切换有向拓扑下的非线性多智能体系统，提出一种协同模糊分层容错包含控制方法，将问题解耦为虚拟参考系统的包含控制和实际系统的跟踪控制，并引入广义受限势函数抑制切换拓扑和作动器故障对跟踪性能的影响。
In this article, the cooperative fuzzy hierarchical fault-tolerant containment control (FTCC) method is proposed for nonlinear multiagent systems (MASs) over switching directed topologies. Based on the hierarchical mechanism, the problem of the cooperative FTCC for nonlinear MASs under switching directed topologies is decoupled into the cooperative containment control problem of the virtual reference system (upper layer) under switching directed topologies and the tracking control problem of the actual system (lower layer). Due to the existence of switching topologies, the state of the virtual reference system may jump, which further affects the transient performance of the lower tracking system; moreover, the actuator faults may also cause a sudden change in actual system. In order to mitigate the influence of switching topologies and actuator faults on the lower tracking system, the generalized restricted potential function is introduced to ensure the norm of the lower tracking error within the predefined performance function. Finally, a simulation example is introduced to illustrate the theoretical results obtained.