Adaptive containment fault-tolerant control for saturated nonlinear multiagent systems with multiple faults and periodic disturbances

Abstract

This paper addresses the problem of adaptive containment fault-tolerant control for nonlinear multiagent systems with periodic disturbances. Different from most existing fault-tolerant control schemes, the form of multiple faults is explicitly considered in this paper, including actuator faults and sensor faults. By combining the Fourier series expansion with neural networks, the unknown nonlinear dynamics subject to time-dependent periodic disturbances are approximated. Then, the “complexity of explosion” issue that exists in traditional backstepping-based results is avoided by introducing a first-order sliding-mode differentiator. It is proved that the developed containment control policies can ensure that all signals of the close-loop systems are uniformly ultimately bounded, and all followers can converge to a convex area formed by multiple leaders. Simulation results verify the validity of the proposed scheme.