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

• Published in: IEEE transactions on cybernetics Vol. 51; no. 1; pp. 126 - 137
• Main Authors: Li, Yongming, Qu, Fuyi, Tong, Shaocheng
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.01.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive algorithms; Adaptive control; Adaptive fuzzy finite-time control; backstepping technique; Computational geometry; Containment; containment control; Control methods; Control systems; Convexity; Cooperative control; Delays; Feedback control; Fuzzy control; Fuzzy logic; fuzzy state observer; Fuzzy systems; input delay; Liapunov functions; Multi-agent systems; Multiagent systems; multiagent systems (MASs); Nonlinear control; Nonlinear systems; Observers; Output feedback; State observers; Time lag
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2020.2970454

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.