Dynamic event-based adaptive fuzzy nonsingular fixed-time output feedback consensus control for multi-agent systems

Abstract

This writing inquires into the issue of observer-based dynamic event-triggered fixed-time adaptive fuzzy consensus control for nonlinear multi-input multi-output (MIMO) multi-agent systems (MASs) with unmeasurable states and disturbances. On the basis of fuzzy logic systems (FLS), an FLS observer was designed to dispose of unmeasurable states. Under the framework of backstepping technique design, a practical adaptive fixed-time control method is proposed by combining FLS observer with fixed-time theory. In the course of designing the controller, a hyperbolic tangent function is introduced to tackle the singularity problem that may pertain in the derivative of the controller, thereby shunning the phenomenon of chattering and diminishing the computational complexity. For the sake of lessening the communication burden of MASs, a modified dynamic event-triggered mechanism (DETM) is proposed. The developed controller assures that all signals of the MASs are bounded, and the consensus tracking errors converge to a small neighbourhood of the zero within a fixed-time interval. Ultimately, multiple UAVs were simulated as examples, and the emulation outcomes display that the availability of the presented control scheme was certified.