Li Yongming, Qu Fuyi, Tong Shaocheng
IEEE Trans Cybern. 2021 Jan;51(1):126-137. doi: 10.1109/TCYB.2020.2970454. Epub 2020 Dec 22.
This article is concerned with the finite-time containment control problem for nonlinear multiagent systems, in which the states are not available for control design and the control input contains time delay. Fuzzy-logic systems (FLSs) are used to approximate the unknown nonlinear functions and a novel distributed fuzzy state observer is proposed to obtain the unmeasured states. Under the framework of cooperative control and finite-time Lyapunov function theory, an observer-based adaptive fuzzy finite-time output-feedback containment control scheme is developed via the adaptive backstepping control design algorithm and integral compensator technique. The proposed adaptive fuzzy containment control method can ensure that the closed-loop system is stable and all followers can converge to the convex hull built by the leaders in finite time. A simulation example is provided to confirm the effectiveness of the proposed control method.
本文研究非线性多智能体系统的有限时间包容控制问题，其中状态不可用于控制设计且控制输入包含时滞。采用模糊逻辑系统（FLS）逼近未知非线性函数，并提出一种新型分布式模糊状态观测器来获取不可测状态。在协同控制和有限时间李雅普诺夫函数理论框架下，通过自适应反步控制设计算法和积分补偿器技术，开发了一种基于观测器的自适应模糊有限时间输出反馈包容控制方案。所提出的自适应模糊包容控制方法能够确保闭环系统稳定，且所有跟随者能在有限时间内收敛到由领导者构建的凸包。提供了一个仿真例子以验证所提控制方法的有效性。
