Abstract
This paper addresses the distributed tracking control problem of pure-feedback multi-agent systems with full state constraints under a directed graph in finite time. By introducing the nonlinear mapping technique, the system with full state constraints is converted into the form without state constraints. Furthermore, by combining fractional dynamic surface and radial basis function neural networks, a novel finite-time adaptive tracking controller is conducted recursively. In light of Lyapunov stability theory, it is proven that all signals of multi-agent systems are semi-globally uniformly ultimately bounded in finite time and the full states satisfy the constraints. Lastly, numerical simulations are supplied to demonstrate the effectiveness of the proposed control strategy.
Highlights
In recent years, the multi-agent system (MAS) has attracted considerable attention since it is widely used in lots of applications such as power grids [1], transportation networks [2], and wireless sensor networks [3]
The work in [15] focused on the distributed control of strict-feedback nonlinear systems with state constraints, in which the unknown nonlinear dynamics existing in the systems were approximated by fuzzy logic systems (FLSs)
Based on the above simulation results, we get that the good performance of proposed controllers is achieved and the local tracking errors converge into the small regions of the origin in the finite time while full state constraints are not violated
Summary
The multi-agent system (MAS) has attracted considerable attention since it is widely used in lots of applications such as power grids [1], transportation networks [2], and wireless sensor networks [3]. The output-constrained leaderless and leader-follower consensus protocols for second-order nonlinear MASs were proposed in [13], [14] by applying BLFs. The work in [15] focused on the distributed control of strict-feedback nonlinear systems with state constraints, in which the unknown nonlinear dynamics existing in the systems were approximated by fuzzy logic systems (FLSs). Based on BLFs and the finite-time stability theory, the finite-time tracking controller for strict-feedback nonlinear systems with full state constraints and dead-zone was investigated in [25]. Compared with [25], the unknown nonlinear dynamics were considered in [26], where an adaptive finite-time fuzzy controller was designed to solve the full state-constrained tracking control problem of strict-feedback nonlinear systems by introducing the tan-type BLF into the backstepping procedure.
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