Fixed-Time Formation Control for Uncertain Nonlinear Multiagent Systems With Time-Varying Actuator Failures

The fixed-time formation control problem for uncertain nonlinear multiagent systems (MASs) with time-varying actuator failures is investigated. Actuator failures would have a huge impact on the system performance, especially when the actuator failures are time-varying, which may even cause system insecurity. In order to cope with time-varying actuator failures, a fixed-time convergence approach is proposed based on adaptive fuzzy control technology. Simultaneously, solving the above problems would aggravate the occupation of communication resources of the system. Therefore, a periodic adaptive event-triggered control scheme is developed, in which the triggering period can be adjusted adaptively. Furthermore, the convergence time of formation errors can be preset by applying the fixed-time control method. The convergence velocity can be accelerated immensely. Eventually, theoretical analysis and simulation illustrate that the proposed method can effectively compensate the time-varying actuator failures, and the MASs can achieve formation within a fixed time by using less communication resources.