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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Xiongfeng Deng & Yiqing Huang & Lisheng Wei, 2022. "Adaptive Fuzzy Command Filtered Finite-Time Tracking Control for Uncertain Nonlinear Multi-Agent Systems with Unknown Input Saturation and Unknown Control Directions," Mathematics, MDPI, vol. 10(24), pages 1-22, December.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:24:p:4656-:d:997769
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    References listed on IDEAS

    as
    1. Xiongfeng Deng & Jiakai Wang, 2022. "Fuzzy-Based Adaptive Dynamic Surface Control for a Type of Uncertain Nonlinear System with Unknown Actuator Faults," Mathematics, MDPI, vol. 10(10), pages 1-21, May.
    2. Wang, Fang & Gao, Yali & Zhou, Chao & Zong, Qun, 2022. "Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints," Applied Mathematics and Computation, Elsevier, vol. 415(C).
    3. Xiongfeng Deng & Xiyu Zhang, 2022. "Adaptive Fuzzy Tracking Control of Uncertain Nonlinear Multi-Agent Systems with Unknown Control Directions and a Dead-Zone Fault," Mathematics, MDPI, vol. 10(15), pages 1-19, July.
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    Cited by:

    1. Daniel Doz & Darjo Felda & Mara Cotič, 2023. "Demographic Factors Affecting Fuzzy Grading: A Hierarchical Linear Regression Analysis," Mathematics, MDPI, vol. 11(6), pages 1-19, March.

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