Adaptive cooperative control for a class of nonlinear multi-agent systems with dead zone and input delay

Abstract

This paper studies the adaptive fuzzy control problem for multi-agent systems (MASs) with dead zone and input delay. Second-order tracking differentiator is introduced to avoid the repeated differentiations of the virtual control. The problem of dead zone is solved by using dead-zone slope and boundary value theory. Based on the Pade approximation method, the influence of input delay is eliminated of the MASs. The designed controller can guarantee all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and tracking errors converge to a neighbourhood around the origin. Finally, the simulation results show the effectiveness of the proposed method.