Adaptive containment control of nonlinear multi-agent systems with input quantization and actuator faults
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.
multi-agent systeminput quantizationactuator faultsadaptive backstepping controlcontainment control