Adaptive Fuzzy Containment Control of Nonlinear Systems With Unmeasurable States.

The adaptive fuzzy containment control problem is discussed for high-order systems with unknown nonlinear dynamics and unmeasurable states guided by multiple dynamic leaders. A high gain observer is introduced to reconstruct the system states. Then, utilizing fuzzy logic systems to model followers' dynamics, an observer-based adaptive fuzzy containment control approach is presented using only the relative position of the neighbors. It is shown that the uniformly ultimately bounded containment control is realized under the condition that, each follower can obtain the information from at least one leader through a directed path. As an extension, an observer-based containment control with prescribed performance is developed, which guarantees the relative position error to be bounded by a specified bound. The obtained theoretical results are validated by simulation examples.