Distributed fuzzy fault-tolerant consensus of leader-follower multi-agent systems with mismatched uncertainties

In this paper, the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems (MASs) is studied. The objective system includes actuator faults, mismatched parameter uncertainties, nonlinear functions, and exogenous disturbances under switching communication topologies. To solve problem, a controller proposed for each follower by adaptive mechanisms to track state leader. Furthermore, logic utilized approximate unknown dynamics. An error estimator introduced between matrix input matrix. Then, selective law with relative information adopted applied. When calculating Lyapunov function's derivative, coupling terms related uncertainties can be eliminated. Finally, numerical simulation given validate effectiveness protocol.