Cooperative Adaptive Fuzzy Control for the Synchronization of Nonlinear Multi-Agent Systems under Input Saturation

Jinxia Wu () and Pengfei Cui
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Jinxia Wu: College of Science, Liaoning University of Technology, Shiying, Jinzhou 121001, China
Pengfei Cui: College of Science, Liaoning University of Technology, Shiying, Jinzhou 121001, China

Mathematics, 2024, vol. 12, issue 10, 1-14

Abstract: This research explores the synchronization issue of leader–follower systems with multiple nonlinear agents, which operate under input saturation constraints. Each follower operates under a spectrum of unknown dynamic nonlinear systems with non-strict feedback. Additionally, due to the fact that the agents may be geographically dispersed or have different communication capabilities, only a subset of followers has direct communication with the leader. Compared to linear systems, nonlinear systems can provide a more detailed description of real-world physical models. However, input saturation is present in most real systems, due to various factors such as limited system energy and the physical constraints of the actuators. An auxiliary system of Nth order is introduced to counteract the impact of input saturation, which is then employed to create a collaborative controller. Due to the powerful capability of fuzzy logic systems in simulating complex nonlinear relationships, they are deployed to approximate the enigmatic nonlinear functions intrinsic to the systems. A distributed adaptive fuzzy state feedback controller is designed by approximating the derivative of the virtual controller by filters. The proposed controller ensures the synchronization of all follower outputs with the leader output in the communication graph. It is shown that all signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking errors converge to a small neighborhood around the origin. Finally, a numerical example is given to demonstrate the effectiveness of the proposed approach.

Keywords: multi-agent; non-strict feedback; saturation input; collaborative control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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