Cooperative neural-adaptive fault-tolerant output regulation for heterogeneous nonlinear uncertain multiagent systems with disturbance

This paper investigates the cooperative output regulation problem for heterogeneous nonlinear uncertain multiagent networked systems subject to actuator failure, bounded matched or mismatched disturbances or disturbances produced by a given linear exosystem. Accurate information about nonlinearity, actuator failure and disturbance may be completely unknown. First, a distributed finite-time observer is designed to estimate the dynamics of the exosystem on a finite-time interval over a communication digraph. Then, a neural-adaptive control protocol is proposed. It is shown that (i) closed-loop multiagent systems are asymptotically stable, with output synchronization errors that tend to zero in the absence of mismatched disturbance, and (ii) the states of the closed-loop multiagent systems and the output synchronization errors are bounded in the presence of mismatched disturbance. Finally, a simulation example is given to demonstrate the effectiveness of the proposed control strategy.