FLS-based cooperative fault-tolerant consensus control for non-affine nonlinear multi-agent systems with switching topologies

In this artical, the problem of fuzzy fault-tolerant consensus for non-affine nonlinear (NAN) multi-agent systems (MASs) with dead-zone and switching topologies is investigated. First, the non-affine term in system is transformed into an affine term, which can be realized by using implicit theorem and mean value theorem. Then, based on the switching undirected communication network, a fuzzy fault-tolerant consensus protocol (FFTCP) with adaptive update law with adjustable parameter is designed utilizing local state information of adjacent agents. Besides, it is demonstrated that all closed-loop signals are bounded, and all agents can reach a consensus when there are the actuator failures and dead-zone nonlinearity are modeled. Eventually, the numerical example is provided to testify the availability of the consensus algorithm.