Cooperative fault‐tolerant fuzzy tracking control for nonlinear multiagent systems under directed network topology via a hierarchical control scheme

Abstract

This article investigates the issue of cooperative fault‐tolerant fuzzy tracking control for a class of nonlinear multiagent systems subject to actuator failures and external disturbances under a directed network topology. By introducing the hierarchical control scheme, a fully distributed tracking control method is proposed. Specifically, the hierarchical control framework includes the upper layer and the lower layer. The upper layer consists of a virtual system and a virtual cooperative controller. The lower layer consists of an actual system and a fault‐tolerant tracking controller. Compared with the most existing distributed fault‐tolerant control methods where the fault in one agent may cause chain reaction, the phenomenon of fault propagation can be eliminated. Finally, the proposed strategy is demonstrated by simulation results.

Constrained fast finite‐time exact tracking for disturbed nonlinear systems

“…In this article, the following FLSs 38‐40 are used to approximate complex nonlinear functions. A FLS mainly consists of the following three parts: fuzzy rules, the fuzzifier, and the defuzzifier.…”

Learning‐based hierarchical control for fault‐tolerant cooperation of networked marine surface vehicles

“…A cooperative adaptive fuzzy tracking algorithm is designed for the high‐order MAS with actuator faults in Reference 27. Xiao and Dong 28 introduce a virtual system and the virtual cooperative controller to avoid the occurrence of fault propagation. The mean‐value theorem and the Nussbaum function are firstly used and employed to handle the non‐affine faults in Reference 29.…”

“…In addition, there is a common belief that actuator faults and failures is a typical input constraint for regulating the NMSVs, and generally has negative impacts on the working performance 23,24 . For this reason, researches focused on this problem have begun to emerge 25‐29 . To be specific, the distributed fault estimation observers have been developed to compensate the actuator faults in References 25 and 26.…”

Distributed robust fault‐tolerant consensus tracking control for multi‐agent systems with exogenous disturbances under switching topologies

“…Actuator faults become a research topic due to the severe related degradation of global behavior caused by them. [26][27][28] To compensate for the effects of the actuator faults, various types of fault-tolerant control (FTC) methods, such as hierarchical control scheme, 29 decentralized output sliding-mode controller, 30 and distributed learning control approach, 31 are reported in previous kinds of literature. Among them, the distributed controller has drawn wide attention as a promising method to realize the consensus of MASs with four types of actuator faults.…”

“…• A fully distributed fault-tolerant consensus tracking control protocol is proposed to improve reliability by the neural network-based adaptive mechanism. Compared with the existing fault-tolerant controllers, 3,[26][27][28][29][30] the proposed controller does not require any knowledge about the terms relevant to the global information associated with the network. Furthermore, the proposed controller can compensate for the leader's unknown bounded input and actuator faults.…”