In this paper, an adaptive fuzzy containment condtrol is considered for nonlinear multiagent systems, in which it contains the unknown control coefficient and actuator fault. The uncertain nonlinear function has been approximated by fuzzy logic system (FLS). The unknown control coefficient and the remaining control rate of actuator fault can be solved by introducing a Nussbaum function. In order to avoid the repeated differentiations of the virtual controllers, first-order filters are added to the traditional backstepping control method. By designing the maximum norm of ideal adaptive parameters, only one adaptive parameter needs to be adjusted online for each agent itself. An adaptive fuzzy containment controller is constructed through the backstepping control technique and compensating signals. It is demonstrated that all the signals in nonlinear multiagent systems are bounded by designing adaptive fuzzy containment controller, and all followers can converge to the convex hull built by the leaders. The simulation studies can further confirm the effectiveness of the proposed control method in this paper.

中文翻译：

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具有未知控制系数和执行器故障的非线性多智能体系统的自适应模糊合作控制

本文针对非线性多智能体系统考虑了自适应模糊约束控制，其中包含未知的控制系数和执行器故障。不确定的非线性函数已通过模糊逻辑系统（FLS）进行了近似。通过引入Nussbaum函数可以解决未知的控制系数和执行器故障的剩余控制率。为了避免虚拟控制器的重复区分，将一阶滤波器添加到传统的反步控制方法中。通过设计理想自适应参数的最大范数，对于每个代理本身，只需要在线调整一个自适应参数即可。通过反步控制技术和补偿信号构造了自适应模糊控制控制器。证明了非线性多智能体系统中的所有信号均受自适应模糊控制控制器的约束，并且所有跟随者都可以收敛到领导者建造的凸包中。仿真研究可以进一步证实本文提出的控制方法的有效性。