Observer-Based Fuzzy Adaptive Finite-Time Containment Control of Nonlinear Multiagent Systems With Input Delay

By Yong-ming Li, Fuyi Qu, Shaocheng Tong. IEEE Transactions on Cybernetics, 2020

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This article is concerned with the finite-time containment control problem for nonlinear multiagent systems, in which the states are not available for control design and the control input contains time delay. Fuzzy-logic systems (FLSs) are used to approximate the unknown nonlinear functions and a novel distributed fuzzy state observer is proposed to obtain the unmeasured states. Under the framework of cooperative control and finite-time Lyapunov function theory, an observer-based adaptive fuzzy finite-time output-feedback containment control scheme is developed via the adaptive backstepping control design algorithm and integral compensator technique. The proposed adaptive fuzzy containment control method can ensure that the closed-loop system is stable and all followers can converge to the convex hull built by the leaders in finite time. A simulation example is provided to confirm the effectiveness of the proposed control method.

Subfields: Computational Theory and Mathematics, Computer Networks and Communications, Control and Systems Engineering

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