Distributed Adaptive Fault-tolerant Control for Heterogeneous Nonlinear Multi-agent Systems with Actuator Faults

This paper investigates the fuzzy cooperative reliable output regulation (CROR) problem for heterogeneous nonlinear multi-agent systems (MASs) with actuator faults under directed network topology. Compared with the existing CROR results, this paper considers more general heterogeneous nonlinear MASs with actuator faults under directed network topology. To identity the dynamic matrix of the exosystem for each subsystem, distributed finite-time estimators are firstly designed. Then, a novel hierarchical mechanism is introduced for the MASs network such that each subsystem knows its layer in the network. By using the introduced hierarchical variables in the hierarchical mechanism, distributed finite-time observers are proposed to estimate the state of the exosystem. Based on the proposed finite-time observers, a new decentralized fuzzy resilient controller is proposed. It is proved that the developed method can be used to solve the considered problem. Finally, a simulation example is provided to show the effectiveness of the developed method.

Automated summary

This paper investigates the fuzzy cooperative reliable output regulation problem for heterogeneous nonlinear multi-agent systems with actuator faults under directed network topology. The paper proposes distributed finite-time estimators and observers to identify the dynamic matrix of the exosystem for each subsystem. A novel hierarchical mechanism is introduced to let each subsystem know its layer in the network, and a decentralized fuzzy resilient controller is developed based on the proposed finite-time observers. The effectiveness of the developed method is demonstrated through a simulation example.