Neuroadaptive fixed-time fault-tolerant containment control of high-order MIMO Nonlinear multi-agent systems in affine strict-feedback form.

Abstract

This paper is concerned with the fixed-time containment control problem for high-order MIMO nonlinear multi-agent systems with external disturbances and actuator faults. First, in the backstepping framework, a neuroadaptive fixed-time containment control protocol is skillfully developed under an undirected communication topology. Second, criteria for designing desired fault-tolerant fixed-time containment control protocol are derived such that the containment performance of the resulting closed-loop MIMO multi-agent systems can be guaranteed within a fixed time horizon and avoided the singularity problem. It is shown that the settling time of the closed-loop system convergence can be estimated and unrelated to the initial states. Furthermore, fixed-time containment control problem in the scenario of directed communication topology is also addressed and the corresponding results are obtained. Finally, both numerical and multi-manipulator application examples are given to verify the effectiveness of the developed neuroadaptive fixed-time containment control method.