Command filter based adaptive fuzzy bipartite output consensus tracking of nonlinear coopetition multi-agent systems with input saturation

Abstract

This paper is concerned with the adaptive bipartite output consensus tracking problem of high-order nonlinear coopetition multi-agent systems with input saturation under a signed directed graph. A distributed fuzzy-based command filtered backstepping scheme is proposed, where the unknown nonlinear dynamics are approximated by the fuzzy logic system (FLS). The errors compensation mechanism is constructed to eliminate the errors caused by filters. Under the proposed control scheme, we only need to design one adaptive law for each agent, and it is proved that the bipartite output tracking errors converge into the desired neighborhood and all the closed-loop signals are bounded although the input saturation exists. Two numerical examples are included to verify the effectiveness of given scheme.