Prescribed-performance-based adaptive fuzzy asymptotic formation control for MIMO nonlinear multi-agent systems with infinite actuator faults

In this article, the adaptive fuzzy asymptotic formation fault-tolerant control (FTC) problem is investigated for multi-input and multi-output (MIMO) nonlinear multi-agent systems (MASs) with infinite actuator faults. The controlled plant contains unknown nonlinear dynamics and infinite actuator faults. The unknown nonlinear dynamics are handled by using fuzzy approximation technique. The virtual controllers together with the parameter adaptive laws are obtained by introducing an integrable function and utilizing bounded estimation algorithms. To overcome the difficulty caused by the infinite actuator faults, a novel actuator fault compensation method is presented based on a two-step design technique. By introducing a prescribed performance function (PPF) to the backstepping recursive design, an adaptive fuzzy asymptotic formation FTC scheme is developed. Based on the Lyapunov stability theory, it is proved that the closed-loop signals are all bounded, the formation error converges asymptotically to zero, and the convergence rate and maximum overshoot of the formation error can be guaranteed. Finally, the developed formation FTC is applied to a group of marine surface vehicles, and its effectiveness and practicability are verified.