Iterative Learning Consensus for Nonstrict Feedback Multiagent Systems With Unknown Control Direction and Saturation Input

Abstract

This article addresses the adaptive iterative learning control consensus problem for a class of unknown nonlinear high-order nonstrict feedback multiagent systems with partially unknown virtual and actual control directions and saturation inputs. Due to the unknown nonlinear dynamics of all follower agents, fuzzy logic systems combined with adaptive way are employed to design control protocol. And the Nussbaum-gain method is utilized to deal with partially unknown virtual and actual control directions in each step of the backstepping design procedure. With backstepping design process constructing adaptive fuzzy iterative learning control scheme for each agent, our proposed new control algorithm ensures that the outputs of all follower agents can accurately track the leader on finite time <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$[ {0,T} ]$</tex-math></inline-formula> . Finally, the performance of our new algorithm is demonstrated by two simulation examples.