This paper considers the leader-following consensus problem for linear multi-agent systems (MASs) with actuator faults, matched unknown nonlinearity and non-identifiable uncertainty under switching network topology for studying. A novel distributed switching fault-tolerant controller is established by approximating the nonlinear dynamics using a fuzzy logic system and by developing adaptive update laws with switching mechanisms. Besides, by introducing an adaptive mechanism to estimate the norm of weight vectors in the FLS, the developed controller can not only reduce the number of adaptive parameters but also is effective to compensate for unknown nonlinearity under the influence of actuator faults. Furthermore, it can be shown that the consensus errors are uniformly ultimately bounded by utilizing the proposed method. Compared with the existing MASs’ results with switching network topology, the nonlinearity considered is completely unknown and fewer adaptive parameters are used to counteract the influence of nonlinearity. Finally, the efficiency and effectiveness of the developed approach are demonstrated by an illustrative example.

本文考虑了具有交换器拓扑的执行器故障，匹配的未知非线性和不可识别的不确定性的线性多智能体系统（MAS）的领导者遵循共识问题，以进行研究。通过使用模糊逻辑系统逼近非线性动力学并开发具有开关机制的自适应更新定律，可以建立一种新颖的分布式开关容错控制器。此外，通过引入自适应机制来估计FLS中权向量的范数，所开发的控制器不仅可以减少自适应参数的数量，而且还可以有效地补偿执行器故障影响下的未知非线性。此外，可以证明，通过利用所提出的方法，共识误差最终被一致地限制。与现有MAS在交换网络拓扑中的结果相比，所考虑的非线性是完全未知的，并且使用较少的自适应参数来抵消非线性的影响。最后，通过一个示例说明了所开发方法的效率和有效性。