Adaptive fuzzy fault-tolerant control for nonlinear multi-agent systems with unknown control direction

In this paper, the problem of active fault-tolerant control (FTC) is investigated for multi-agent systems with unknown control direction and actuator faults. The communication topology among the agents is directed and exist one leader that has a directed path to each follower at least. The system considered in this paper is consist of unstructured uncertainties, unknown control direction, and actuator faults. The fuzzy logic system is used for approach unknown nonlinear function, the problem of unknown control direction can be solved by using Nussbaum gain function. Based on backstepping design principle and the dynamic surface control technique, a fault-tolerant containment control scheme is developed. By using Lyapunov function stability theory, the proposed FTC controller can guarantee that all signals in all subsystems are bounded, and the tracking errors for each subsystem converge to a small neighborhood of zero.