Distributed Adaptive Fuzzy Control for Nonlinear Multiagent Systems Via Sliding Mode Observers
针对有向图上的高阶不确定非线性多智能体系统，提出了一种基于滑模观测器的分布式自适应模糊控制方法，使每个跟随者仅利用自身和邻居的输出信息就能渐近同步到领导者，且跟踪误差有界。
In this paper, the problem of distributed adaptive fuzzy control is investigated for high-order uncertain nonlinear multiagent systems on directed graph with a fixed topology. It is assumed that only the outputs of each follower and its neighbors are available in the design of its distributed controllers. Equivalent output injection sliding mode observers are proposed for each follower to estimate the states of itself and its neighbors, and an observer-based distributed adaptive controller is designed for each follower to guarantee that it asymptotically synchronizes to a leader with tracking errors being semi-globally uniform ultimate bounded, in which fuzzy logic systems are utilized to approximate unknown functions. Based on algebraic graph theory and Lyapunov function approach, using Filippov-framework, the closed-loop system stability analysis is conducted. Finally, numerical simulations are provided to illustrate the effectiveness and potential of the developed design techniques.