Fuzzy tracking control for nonlinear multi-agent systems with actuator faults and unknown control directions

This paper studies the fuzzy tracking control problem of nonlinear multi-agent systems with time-varying actuator faults and unknown control directions. The term of time-varying actuator faults is estimated via designing adaptive parameter. For the problem of the unknown control directions, the Nussbaum function is introduced to ensure the controller is unaffected on unknown direction. Moreover, based on algebraic graph theory and Lyapunov stability theory, a new distributed controller is designed to guarantee that the tracking error converges to a small neighborhood near the origin. Finally, simulation examples are given to verify the theoretical results.