This paper investigates the distributed fault-tolerant containment control (FTCC) problem of nonlinear multi-agent systems (MASs) under a directed network topology. The proposed control framework which is independent on the global information about the communication topology consists of two layers. Different from most existing distributed fault-tolerant control (FTC) protocols where the fault in one agent may propagate over network, the developed control method can eliminate the phenomenon of fault propagation. Based on the hierarchical control strategy, the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer. Finally, simulation results are given to demonstrate the effectiveness of the proposed control protocol.

中文翻译：

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分层方法指导网络拓扑下非线性多Agent系统的分布式容错包容控制

本文研究了定向网络拓扑下的非线性多智能体系统（MAS）的分布式容错包容性控制（FTCC）问题。所提出的控制框架独立于有关通信拓扑的全局信息，由两层组成。与大多数现有的分布式容错控制（FTC）协议（其中一个代理中的故障可能通过网络传播）不同，开发的控制方法可以消除故障传播的现象。基于分层控制策略，带有有向图的FTCC问题可以简化为上层的分布式包含控制和下层的容错跟踪控制。最后，仿真结果表明了所提出的控制协议的有效性。