针对一类存在未知非线性的多智能体系统,研究具有执行器故障的“领导-跟随”协同控制问题.利用模糊逻辑系统逼近系统的未知非线性,通过设计故障估计器辨识系统的故障.在“跟随者”之间的通信网络为单向连通的情况下,提出分布式模糊容错协同控制器的设计方案,实现“跟随者”的状态跟踪“领导者”的状态.基于Lyapunov稳定性理论,证明系统的跟踪误差一致最终有界.仿真结果验证了所提出设计方法的有效性. For a class of multi-agent systems with unknown nonlinearity, this paper studies the “leader-follower” cooperative control problem with actuator failure. By using the fuzzy logic system to approximate the unknown nonlinearity of the system, the system fault is identified by designing the fault estimator When the communication network between “follower ” is one - way connected, the design scheme of distributed fuzzy fault - tolerant cooperative controller is put forward to realize the status tracking of “follower” “leader ” Based on the Lyapunov stability theory, it is proved that the tracking error of the system is uniform and ultimately bounded. The simulation results verify the effectiveness of the proposed design method.