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Distributed adaptive fault-tolerant containment control for a class of multi-agent systems with non-identical matching non-linear functions

Distributed adaptive fault-tolerant containment control for a class of multi-agent systems with non-identical matching non-linear functions

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This study considers the fault-tolerant containment control problem for linear multi-agent systems with external disturbances, non-identical matching non-linear functions and actuator faults containing stuck, outage and loss of effectiveness. A novel method is proposed to estimate the norm of weight vector in fuzzy logic systems rather than the weight vector by using the traditional method. So the difficulty that the actuator with outage or stuck fault cannot work to compensate the unknown non-linear function is solved. Furthermore, different from the traditional fault-tolerant control method to estimate the feedback gain matrix related on the fault, only the ratio of coupling weight to the failure rate is estimated. The merit of the proposed controller is that the number of adaptive parameters is only related to the number of agents, which reduces the adaptive parameters and computational burden considerably. In addition, it is proved that the proposed controller guarantees all the signals in the closed-loop systems are bounded and all followers converge asymptotically to the convex hull formed by the leaders. Finally, a simulation example is given to illustrate the effectiveness of the proposed control scheme.

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