Flexible Preassigned Finite-Time Fuzzy Bipartite Consensus Control for Nonlinear MASs With Dead-Zone Inputs and Actuator Faults

This paper presents an adaptive fuzzy bipartite consensus tracking control scheme for nonlinear multi-agent systems (MASs) with dead-zone inputs and actuator faults. The consensus problem for unbalanced communication topology of the MASs is difficult to deal with. First, the hierarchical algorithm is introduced to transform the consensus tracking problem for multi-agents into the tracking problem of the single agent. Then, the novel error transformation and coordinate transformation are proposed based on the hierarchical design theory, leading to the condition of global Laplacian matrix information unnecessary so that the computational difficulty and communication burden are significantly reduced. Besides, the control performance would be seriously affected by the input constraints such as dead-zone and faults. There is a balance between the input constraints and the output constraints for MASs, but these two constraints are handled independently in the most existing works. Thus, a flexible performance function is developed to balance the system performance and the stability requirements by flexible signal switching. The proposed adaptive fuzzy control scheme ensures that not only the influence of the dead-zone and various types of actuator faults is eliminated, but also the preassigned finite-time tracking performance is achieved. Finally, the simulation experiment is conducted to verify the effectiveness of the established control scheme.