Adaptive fixed-time neural consensus control for a class of uncertain nonlinear multi-agent systems with full state constraints

Abstract

This paper is concerned with the fixed-time consensus control problem for non-strict feedback multi-agent systems with asymmetric output constraints and full state constraints. Considering the feasibility of controlling execution, a novel practical virtual control signal is developed utilizing both saturation function and hyperbolic tangent function to ensure that this signal can remain within the same restricted range as the corresponding state variable throughout entire operation process. In backstepping steps, the design of ideal virtual control signal also adopts a different form of piecewise function than before, introducing high-order polynomial functions to avoid singularity problems in the derivation process. In addition, function approximation ability of radial basis function neural networks technique is applied to estimate uncertainties derived from the system functions and controller design procedure. Moreover, universal barrier Lyapunov function approach is improved for constructing an adaptive constrained synchronization control scheme. By fixed-time stability theory, it is shown that the tracking errors of the MAS converge to an adjustable region around the origin in a fixed time and the state variables always obey their constraints. And the upper bound of the settling time is merely dependent on design parameters, which is not affected by the initial states of MAS. The effectiveness of the proposed control strategy is shown by a numerical simulation example at last. Two scenarios are provided to demonstrate the advantages of the control protocol proposed in this paper.