This article investigates the issue of cooperative fault‐tolerant fuzzy tracking control for a class of nonlinear multiagent systems subject to actuator failures and external disturbances under a directed network topology. By introducing the hierarchical control scheme, a fully distributed tracking control method is proposed. Specifically, the hierarchical control framework includes the upper layer and the lower layer. The upper layer consists of a virtual system and a virtual cooperative controller. The lower layer consists of an actual system and a fault‐tolerant tracking controller. Compared with the most existing distributed fault‐tolerant control methods where the fault in one agent may cause chain reaction, the phenomenon of fault propagation can be eliminated. Finally, the proposed strategy is demonstrated by simulation results.

中文翻译：

---

定向控制网络拓扑下非线性多主体系统的协同容错模糊跟踪控制

本文研究了在定向网络拓扑下，一类非线性多主体系统在执行器故障和外部干扰作用下的协同容错模糊跟踪控制问题。通过引入分层控制方案，提出了一种完全分布式的跟踪控制方法。具体地，分层控制框架包括上层和下层。上层由虚拟系统和虚拟协作控制器组成。下层由实际系统和容错跟踪控制器组成。与大多数现有的分布式容错控制方法（其中一个代理中的故障可能引起连锁反应）相比，可以消除故障传播现象。最后，仿真结果证明了所提出的策略。