BLS-based formation control for nonlinear multi-agent systems with actuator fault and input saturation

This paper studies the formation control of a nonlinear multi-agent system based on a broad learning system under actuator fault and input saturation. Firstly, the multi-agent tracking error is proposed based on graph theory. Besides, fault tolerance should be considered when actuator fault exists. Meanwhile, the broad learning system is put forward to approximate the unknown nonlinear function in the multi-agent system. Then, an input saturation auxiliary system is introduced to reduce the adverse effects of input saturation constraints. At the same time, the disturbance observer technology is used to estimate the actuator failure as a lumped uncertainty. At last, dynamic surface control is introduced to realize formation control with actuator fault and input saturation. Obviously, it is difficult to design a controller with unknown nonlinear function, input saturation, and actuator fault existing in the multi-agent system. The Lyapunov method can prove the stability of the formation control. The simulation results verify the effectiveness of the controller.