Adaptive Fuzzy Tracking Control of Uncertain Nonlinear Multi-Agent Systems with Unknown Control Directions and a Dead-Zone Fault

Abstract

In this paper, a class of uncertain nonlinear multi-agent systems with unknown control directions and a dead-zone fault is addressed, where unknown control gains exist in each subsystem. In terms of the approximation characteristic of a fuzzy logic system, it is used to approximate uncertain nonlinear dynamics, and then the relevant adaptive control laws are designed. Considering the presence of unknown control directions and a dead-zone fault, the Nussbaum gain function technique is introduced to design the intermediate control law and the adaptive fuzzy control law. A theoretical analysis shows that the tracking control problem of the given multi-agent systems can be effectively solved through the application of the proposed adaptive fuzzy control law and the tracking errors can converge to a small neighborhood of zero through an adjustment of the relevant parameters. Finally, the effectiveness of the theoretical analysis results is verified by two simulation cases.