Fault-Tolerant Fuzzy Formation Control for a Class of Nonlinear Multiagent Systems Under Directed and Switching Topology

The fault-tolerant formation control problem of a class of nonlinear multiagent systems with actuator/sensor faults under directed and switching network topology is addressed in this article. The main contributions are as follows: 1) the developed controller is effective to compensate for actuator/sensor faults and unknown nonlinearity simultaneously and 2) in contrast to the existing fault-tolerant formation control results, the more general directed and switching network topology is considered. In particular, by using a fuzzy logic system to approximate unknown nonlinearity and by introducing fault estimators to estimate actuator/sensor faults, a novel distributed fuzzy formation controller is developed. By virtue of introducing a modification technique in adaptive law, the phenomenon of strictly increase in adaptive law caused by actuator/sensor faults and unknown nonlinearity can be avoided. In addition, the uniformly ultimately bounded of the formation errors can be shown by introducing a novel Lyapunov function and a new analysis method. The efficiency of the developed method can be shown by an illustrative example demonstrates.