Adaptive Fuzzy Distributed Optimal FTC for Nonlinear Multiagent Systems Based Multiplayer Differential Game

This article proposes an adaptive fuzzy distributed output-feedback optimal fault tolerant control (FTC) methodology for strict-feedback nonlinear multiagent systems with intermittent actuator faults. The proposed adaptive distributed FTC method is composed of a fuzzy feedforward output-feedback distributed FTC and a fuzzy error feedback distributed optimal controller. The fuzzy feedforward distributed FTC is designed by backstepping design technique and fuzzy state observer, which can solve unmeasured states problem of the agents and transform the strict-feedback nonlinear multiagent systems (MASs) into a linearizable feedback nonlinear MASs. The fuzzy distributed optimal controller is designed for the error nonlinear MASs based on adaptive dynamical programming to find a Nash equilibrium solution of the mutiplayer differential graphical game. It is proved that the formulated adaptive distributed fuzzy optimal FTC scheme can achieve the global optimal control objective, and make the controlled MASs asymptotic stable, the followers' outputs follow the leader's output. The simulation results on ship autopilot systems demonstrate its effectiveness.