Adaptive Fuzzy Fixed-Time Tracking Control for Switched High-Order Multi-Agent Systems With Input Delay

Abstract

This paper investigates the adaptive fuzzy fixed-time-based distributed consensus tracking control for non-strict feedback nonlinear switched high-order multi-agent systems (MASs) with completely unknown function, input delay, switched behavior dynamics (possibly asynchronous) and high powers (possibly different). In this work, the “explosive of complexity” issue is overcome by designing an improved fixed-time-based nonlinear filter. Unlike traditional linear filters, this paper skillfully introduces auxiliary terms (tanh function and cubic function) into each filter, which can completely compensate the effects resulted by filter errors and ensure the closed-loop system fixed-time convergence. Meanwhile, input delay is deal with a robust compensation signal constructed via a finite integral of the past control values. Besides, this paper adopts separable function technique to avoid the control gain of each virtual controller appearing in the next virtual controller, thus reducing the complexity of control actions. In the backstepping framework, a distributed fixed-time-based control scheme was presented, which can ensure that all the closed-loop signals are bounded within a fixed-time. Numerical simulation and practical example further verify the effectiveness of the developed control scheme.