Fuzzy-Approximation-Based Distributed Fault-Tolerant Consensus for Heterogeneous Switched Nonlinear Multiagent Systems

In this article, the distributed fault-tolerant consensus tracking control problem is investigated for a class of nonlinear multiagent systems, where the dynamics of agents are heterogeneous and switched. For the subsystems of each agent, nonlinear terms are not required to satisfy any growth conditions and fuzzy logic systems are employed to approximate unknown functions. In the protocol design, information on the interaction topology and the number of agents cannot be used. Since the underlying multiagent systems are heterogeneous and have switching characteristics, and the topology information is unknown, it is rather difficult to solve the consensus tracking problem using existing algorithms. In this article, a novel distributed consensus tracking protocol is developed. By using the graph theory, Lyapunov functional method and fuzzy logic systems approximation technique, it is proven that the consensus tracking control objective can be achieved for multiagent systems suffering from actuator faults and arbitrary switchings. Finally, to demonstrate the validity of the developed methodology, a numerical simulation is presented.