Adaptive fuzzy fault-tolerant containment control for nonlinear multiagent systems based on modified distributed observer

This paper investigates the finite-time fault-tolerant containment control problem for stochastic nonlinear multiagent systems with intermittent actuator faults. A modified distributed observer is designed to estimate unmeasured states in systems. Compared with the existing result, the estimation precision of the modified observer is significantly enhanced in the presence of various uncertainties in the control channel. Moreover, this paper designs a compensation mechanism for intermittent faults to suppress the adverse effects caused by each fault. Then a finite-time fuzzy fault-tolerant containment control scheme is proposed to make all followers converge to the convex hull formed by leaders in a finite time. It is proved that all signals of closed-loop systems are semi-globally finite-time stable in probability based on the finite-time stochastic Lyapunov stability theory, and containment errors can converge to a small neighborhood of the origin. Finally, simulation studies are provided to illustrate the effectiveness of the proposed control scheme.(c) 2022 Elsevier B.V. All rights reserved.