Adaptive Fuzzy Output-Feedback Consensus Tracking Control of Nonlinear Multiagent Systems in Prescribed Performance
针对状态不可测、非线性函数完全未知的多智能体系统，设计了基于观测器的自适应模糊控制器，能在预设有限时间内使一致性跟踪误差收敛到指定区域，且收敛时间和区域可由设计者预先设定。
This article addresses the finite-time consensus tracking control problem for nonlinear multiagent systems (MASs), in which state variables are unmeasured and nonlinear functions are totally unknown. An observer is designed to estimate state variables and fuzzy-logic systems are employed to approximate nonlinearities. Then, an observer-based adaptive fuzzy consensus tracking controller is developed by using the backstepping technique and constructing a novel barrier Lyapunov function with the consideration of the characteristics of MASs. The proposed control protocol can guarantee that: 1) all signals in the closed-loop system keep bounded and 2) the consensus tracking error converges to a prespecified region of the origin in the prescribed finite time. Compared with the existing observer-based finite/fixed-time control protocols, the settling time and the convergence region in our work can be both preassigned by the designer and not affected by the unknown positive constant, which lies in the Lyapunov derivative inequality. Finally, two comparison simulation examples, including a numerical example and a practical example, check the availability of the designed control scheme.