Observer-Based Fixed-Time Adaptive Fuzzy Consensus DSC for Nonlinear Multiagent Systems
针对有向通信拓扑下状态不可测、动态未知的非线性多智能体系统，设计了基于线性状态观测器和模糊逻辑的固定时间自适应模糊一致性控制方案，避免了现有方法中的奇异问题，并用无人艇仿真验证了有效性。
This article studies the output-feedback fixed-time fuzzy consensus control problem for nonlinear multiagent systems (MASs) under the directed communication topologies. Since the controlled systems contain the unmeasurable states and unknown dynamics, the unmeasurable states are reconstructed via linear state observers, and fuzzy logic systems are utilized to identify the unknown internal dynamics. By constructing the integral type Lyapunov function, a fixed-time adaptive fuzzy consensus control scheme is developed by introducing the nonlinear filter technique into the backstepping recursive technique adaptive control algorithm. The presented consensus control method can not only guarantee the controlled system is semi-global practical fixed-time stable (SGPFTS), but also avoid the singular problem in existing backstepping recursive control design methods. Finally, an application of unmanned surface vehicles is provided to verify the effectiveness of the presented fixed-time fuzzy consensus control method.