Distributed backstepping-based adaptive fuzzy control of multiple high-order nonlinear dynamics

Abstract

This paper focuses on the cooperative adaptive fuzzy control of multiple high-order nonlinear dynamics. The communication network topology is undirected and fixed. Each individual dynamics is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown external disturbance. With the approximation capability of fuzzy logic systems, the unknown nonlinear dynamics is compensated by the adaptive fuzzy logic systems scheme. The negative effects of the approximation error and external disturbances are counteracted by employing the robustness terms. Under the backstepping framework, two cooperative adaptive fuzzy controllers are designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that only the local state information between the agent and its neighbors is required to design the controller. Finally, a simulation example with four-order dynamics demonstrates the effectiveness of the algorithms.