Abstract
This paper proposes an adaptive fuzzy distributed consensus tracking control scheme for a class of uncertain nonlinear dynamic multiagent systems (MASs) with state time-varying delays and state time-varying constraints. The existing controllers with Lyapunov–Krasovskii functions (LKFs) were not suitable to address time-varying delays and time-varying constraints in nonlinear MASs simultaneously. State constraints further increase the difficulty of controller design and stability analysis, especially for nonstrict feedback systems. Fuzzy logic systems (FLSs) tackle the approximation of unknown dynamics functions and parameters. Especially when the distributed consensus tracking error is infinitely close to the origin, although there is no singular value, it would lead to the rapid growth of control rate or uncontrollability. Constructing appropriate piecewise functions can effectively avoid the above occurrence and accelerate convergence. Based on Lyapunov stability theory and algebraic graph theory, the constructed tracking control can ensure states within defined time-varying constraint bounds and eliminate the influence of time delays. All signals in closed-loop systems can be guaranteed semiglobally uniformly ultimately bounded (SUUB). Finally, the validity of the theoretical method is verified by the simulation.
Highlights
Over the past few decades, inspired by flocking behavior in nature, related research on multiagent systems (MASs) had developed rapidly due to potential military and civilian applications. e literature involved many aspects such as satellites, flights, distributed computing, robotics, power systems, surveillance and reconnaissance systems, multimissile coordinated attacks, and intelligent transportation systems in [1,2,3,4,5,6,7]
(2) Distinguished from BLFs, the constraints construct by a nonlinear coordinate transformation in [43] that directly constrain on states, which are applicable to avoid complex feasibility analysis of virtual controllers. e constructed appropriate piecewise functions can effectively avoid the rapid growth and uncontrollability of the control rate and accelerate the convergence when the synchronization error is infinitely close to the origin
Is paper only shows the feasibility and effectiveness of constructing state time-varying constraints to distributed nonlinear and uncertain time-varying delayed MASs. e asymmetric forms would be further discussed in other papers
Summary
Over the past few decades, inspired by flocking behavior in nature, related research on multiagent systems (MASs) had developed rapidly due to potential military and civilian applications. e literature involved many aspects such as satellites, flights, distributed computing, robotics, power systems, surveillance and reconnaissance systems, multimissile coordinated attacks, and intelligent transportation systems in [1,2,3,4,5,6,7]. Motivated by the above analysis, this paper schedules a novel adaptive fuzzy distributed cooperative tracking control approach for a class of uncertain nonlinear MASs with state time-varying delays and constraints. (2) Distinguished from BLFs, the constraints construct by a nonlinear coordinate transformation in [43] that directly constrain on states, which are applicable to avoid complex feasibility analysis of virtual controllers.
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