Event-driven intelligent fault-tolerant containment control for nonlinear multiagent systems with unknown disturbances

摘要

This paper investigates the event-driven intelligent fault-tolerant containment control problem for nonlinear multiagent systems affected by unknown disturbances, and conducts a comprehensive analysis of the dynamic stability of the system. Reduced-order modelling is employed for system modelling and identification, while radial basis function neural networks are utilised to estimate the nonlinear functions of the system model. An event-driven control scheme is designed based on the backstepping method and Lyapunov functional approach. In contrast to existing consensus control schemes, the proposed event-driven control schemes are specifically tailored to improve the energy efficiency and endurance of nonlinear multiagent systems operating in complex environments. Under the proposed control law, the output of each follower is converge to the convex hull spanned by the outputs of the leaders. The effectiveness of the proposed method is rigorously validated through numerical simulations. Furthermore, a practical example involving the design of a marine surface vehicle using advanced robotics technology is presented to further substantiate the efficacy of the proposed method.