The adaptive fault-tolerant containment control problem for a class of nonlinear strict feedback multi-agent systems with input quantization,external disturbances and dynamic leaders are studied.An adaptive backstepping control scheme is proposed by establishing a parameter update law with an unknown estimated damping term,a positive time-varying integral function,a first-order filter,and a compensating signal.This scheme mitigates the effect of quantization by introducing a new smoothing function in the virtual control law while compensating the filtering error,uses bounded estimation method to overcome the limitation that faults can occur only a finite number of times,guarantees the outputs of all followers converge within the convex hull formed by the outputs of the leaders,and all signals are bound.Simulation results verified the effectiveness of the proposed scheme.
关键词
多智能体系统/输入量化/执行器故障/自适应反步控制/包容控制
Key words
multi-agent system/input quantization/actuator faults/adaptive backstepping control/containment control
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