Prescribed Performance Consensus Fuzzy Control of Multiagent Systems With Nonaffine Nonlinear Faults

The problem of leader-following consensus fault-tolerant control is investigated for multiagent systems (MASs) with time-varying nonaffine nonlinear faults, where the interactive topology is directional. In this article, to guarantee the performance consensus on tracking error, in the design process, the inherent problem of "explosion of complexity" is solved by the dynamic surface control technique. Fuzzy logic systems are employed to approximate the unknown nonlinearity effects and changes in model dynamics due to faults. A fuzzy state observer is presented to estimate the unmeasured states. According to the backstepping technique, a distributed consensus fuzzy controller is developed to guarantee that output signals of all followers and leader are synchronized. It can be proved that all variables of MASs are uniformly ultimately bounded. Finally, the validity of the control scheme is illustrated by some simulation results.