Fuzzy Adaptive Group Formation-Containment Tracking Control of Nonlinear Multiagent Systems With Intermittent Actuator Faults

In this article, a time-varying group formation-containment tracking problem for nonlinear multiagent systems (NMASs) with intermittent actuator faults is considered. The NMASs are composed of multiple subgroups responsible for different target tracking, and they are interconnected through a weighted digraph. The unknown nonlinear dynamics of nonstrict-feedback NMASs are approximated by fuzzy-logic systems, and the adaptive backstepping is employed to design the virtual controllers along with their adaptive parameters. Then, two novel fault-tolerant controllers are designed for the formation leaders and followers to achieve group formation tracking and containment control, even in the presence of intermittent actuator faults. Both controllers are fully distributed as only neighbor information is required instead of global information. Finally, simulation experiments for multiple unmanned surface vehicles are provided.