Adaptive Fuzzy Distributed Optimal Fault Tolerant Control of Nonlinear Multi-Agent Systems Under Weight-Unbalanced Directed Graphs

The adaptive fuzzy distributed optimal fault tolerant control (FTC) problem is investigated for high-order nonlinear multi-agent (NMA) systems under weight-unbalanced directed graph. Since the optimization point of the high-order NMA systems considered in this study is unknown, the optimal signal generator is formulated to obtain the optimization point. Then, a fuzzy state observer is established to estimate unmeasurable states. Based on the designed optimal signal generator and fuzzy state observer, an adaptive fuzzy distributed optimal output-feedback FTC scheme is proposed by using backstepping control technology. It is proved that the NMA system is asymptotically stable, and the global cost function is minimized. Finally, we apply the proposed adaptive fuzzy distributed optimal output-feedback FTC approach to nonholonomic mobile robots with two actuated wheels, the simulation results and comparison results verify its effectiveness.