A low-complexity design for distributed containment control of networked pure-feedback systems and its application to fault-tolerant control

Abstract

This paper addresses a low-complexity distributed containment control problem and its extension to fault-tolerant control for networked nonlinear pure-feedback systems under a directed graph. The multiple dynamic leaders are neighbors of only a subset of the followers described by completely non-affine multi-input multi-output pure-feedback dynamics. It is assumed that all followers' nonlinearities are heterogeneous and unknown. The proposed containment controller is implemented by using only error surfaces integrated by performance bounding functions and does not require any differential equations for compensating uncertainties and faults. Thus, compared with the previous containment control approaches for multi-agent systems with unknown non-affine nonlinearities, the distributed containment control structure is simplified. In addition, it is shown that the proposed control scheme can be applied to the fault-tolerant containment control problem in the presence of unexpected system and actuator faults, without reconstructing any control structure. It is shown from Lyapunov stability theorem that all followers nearly converge to the dynamic convex hull spanned by the dynamic leaders and the containment control errors are preserved within certain given predefined bounds. Copyright (C) 2016 John Wiley & Sons, Ltd.