关键词: 多智能体, 容错控制, 包容控制, 自适应控制

Abstract: This paper studied the containment control problem for the multi-agent systems(MASs)with actuator faults, unmatched uncertainty, external disturbance, nonlinear dynamic and unknown global information. The considered actuator failures included loss of effectiveness, stuck and outage. The upper bounds of uncertainty, disturbance and faults were combined and estimated online, whose effects were further compensated by a designed control mechanism. To avoid using the global information, adaptive technique was used to estimate the coupling gain of the controller. The proposed containment controller guaranteed the tracking error converge to zero asymptotically, which implied the followers were driven into the convex hull spanned by the leaders. Finally, a simulation example was given to illustrate the effectiveness of the distributed fault-tolerant containment controller.

Key words: containment control, multi-agent system, fault-tolerant control, adaptive control