Adaptive fuzzy fault-tolerant formation control for nonlinear multi-agent systems under cyber-physical threats
Abstract
This article investigated the fuzzy adaptive fault-tolerant resilient formation control issue\r\nfor uncertain nonlinear multi-agent systems (MASs) with immeasurable states and under\r\ndenial-of-service (DoS) attacks. Fuzzy logic systems were utilized to model unknown agents, and a\r\nfuzzy state estimator was formulated to reconstruct the agents’ unknown states. A distributed resilient\r\nformation estimator was proposed to obtain the unknown leader information estimation and its\r\nhigh-order derivatives under DoS attacks. Based on the designed fuzzy state and resilient formation\r\nestimators, a fault-tolerant fuzzy output-feedback adaptive resilient formation control scheme was\r\ndeveloped via the backstepping control methodology. It was proven that the developed fault-tolerant\r\nfuzzy resilient formation control scheme can guarantee that the controlled nonlinear MASs were\r\nstable and formation tracking errors converged even under unknown states, actuator faults, and DoS\r\nattacks. Finally, the proposed fuzzy adaptive fault-tolerant resilient formation control method was\r\napplied to marine surface vehicles; the simulation results and comparisons showed the e ectiveness\r\nof the presented control methodology.
Author
Abdulqadir Ismail Abdullah
DOI
https://10.3934/math.2025874
ISSN
2473-6988
Publish Date: 27-Aug-2025