Self-triggered fuzzy fault-tolerant adaptive containment control for nonlinear multi-agent systems with uncertain control gains

Abstract

A fixed-time fault-tolerant containment control method is proposed for nonlinear multi-agent systems (MASs) subject to unknown actuator failures, unknown time-varying control gains, and uncertain disturbances. To address the dual challenges of limited communication resources and performance degradation caused by these anomalies, an adaptive fuzzy self-triggered mechanism (AFSTM) is developed to reduce bandwidth pressure while implementing containment control for MASs. The proposed AFSTM enables the agents to calculate the next trigger time at each trigger moment, avoiding continuous monitoring of control signals. Meanwhile, the proposed strategy ensures that all followers converge to the convex hull spanned by multiple leaders within a fixed time, independent of initial system states, as rigorously proven through Lyapunov stability analysis and algebraic graph theory. Eventually, simulations validate the effectiveness of the proposed method in achieving containment control with reduced communication burden.