Adaptive Fuzzy Command Filtered Finite-Time Tracking Control for Uncertain Nonlinear Multi-Agent Systems with Unknown Input Saturation and Unknown Control Directions

Xiongfeng Deng (), Yiqing Huang and Lisheng Wei
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Xiongfeng Deng: Key Laboratory of Electric Drive and Control of Anhui Higher Education Institutes, Anhui Polytechnic University, Wuhu 241000, China
Yiqing Huang: Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu 241000, China
Lisheng Wei: Key Laboratory of Electric Drive and Control of Anhui Higher Education Institutes, Anhui Polytechnic University, Wuhu 241000, China

Mathematics, 2022, vol. 10, issue 24, 1-22

Abstract: This paper investigates the finite-time consensus tracking control problem of uncertain nonlinear multi-agent systems with unknown input saturation and unknown control directions. An adaptive fuzzy finite-time consensus control law is proposed by combining the fuzzy logic system, command filter, and finite-time control theory. Using the fuzzy logic systems, the uncertain nonlinear dynamics are approximated. Considering the command filter and backstepping control technique, the problem of the so-called “explosion of complexity” in the design of virtual control laws and adaptive updating laws is avoided. Meanwhile, the Nussbaum gain function method is applied to handle the unknown control directions and unknown input saturation problems. Based on the finite-time control theory and Lyapunov stability theory, it was found that all signals in the closed-loop system remained semi-global practical finite-time stable, and the tracking error could converge to a sufficiently small neighborhood of the origin in the finite time. In the end, simulation results were provided to verify the validity of the designed control law.

Keywords: multi-agent systems; finite-time control; fuzzy logic system; unknown control directions; command filter (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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