Adaptive Fuzzy Control of Leader-Follower High-Order Nonlinear Multi-agent Systems with Actuator Faults
Ning Zhou, Riqing Chen, Yuanqing Xia, Jie Huang · 2016
In this paper, we aim to develop a set of distributed adaptive fuzzy controllers for a group of uncertain nonlinear high-order multi-agent systems in the presence of actuator faults. Firstly, a pre-filter is designed which can derive the state space representation to a newly constructed plant. Design of the control variable will be provided by making certain modifications on traditional backstepping technique with the aid of adaptive control, fuzzy control and a second-order sliding mode estimator. It shows that the effects due to actuator faults, external disturbances and the uncertainties of the model can be compensated with the proposed scheme, and the global boundedness of the tracking errors can also be ensured.