Adaptive cooperative fault-tolerance tracking control for multi-agent system with hybrid actuator faults and multiple unknown control directions

• Published in: Expert systems with applications 2022-07, Vol.197, p.116711, Article 116711
• Main Authors: Zhang, Pu, Xue, Huifeng, Gao, Shan, Zuo, Xuan, Zhang, Jialong
• Format: Article
• Language: English
• Subjects: Actuators; Adaptive control; Control systems design; Control theory; Controllers; Cooperative control; Cooperative fault-tolerant control; Fault tolerance; Faults; First-order sliding mode differentiator; Hybrid actuator faults; Hybrid systems; Multiagent systems; Multiple unknown control directions; Nonlinear control; Response time; Robust adaptive fuzzy control; Robust control; System effectiveness; Tracking control
• ISSN: 0957-4174; 1873-6793
• DOI: 10.1016/j.eswa.2022.116711

•The designed controller can compensate multiple types of actuator faults.•A new method can make the system still maintain a good tracking effect.•A robust bounded estimation method can effectively reduce the tracking error. This paper investigates the cooperative fault-tolerant control for the nonlinear multi-agent system with hybrid actuator faults and multiple unknown control directions based on robust adaptive fuzzy sliding mode technology (RAFSMT). Firstly, a piecewise Nussbaum function is proposed to solve the multiple unknown control directions, and the robust adaptive fuzzy technique is designed to handle the nonlinear uncertainty in the system. Meanwhile, a first-order sliding mode differentiator is introduced, and it is combined with the adaptive backstepping technique to obtain the first-order derivative of the virtual control law. Moreover, a robust bounded method is used to improve the convergence speed and tracking accuracy of the designed adaptive cooperative controller. Then, the designed controller can effectively solve the fault-tolerant tracking control problem of multi-agent systems with hybrid actuator faults and unknown control directions. Compared with the methods in other references, the proposed method can make the system still maintain a good tracking effect with small steady-state error, short response time, and good fault tolerance. Finally, the effectiveness of the proposed method is verified by the comparison of simulation examples.