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Command filter-based adaptive robust prescribed performance formation control for nonlinear multi-agent systems
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DOI：10.1002/acs.3786.png)
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Abstract
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This paper investigates an observer-based adaptive robust fuzzy formation tracking control method for nonlinear multi-agent systems (MAS) with input delay. The considered nonlinear MAS contains the unknown nonlinear functions, that is, unmeasured states. The fuzzy logic systems (FLS) are used to approximate the unknown nonlinear functions, and then a fuzzy adaptive state observer is designed to estimate the unmeasured states. The Pade approximation approach is introduced to solve the input delay issue. By combining command filtering and backstepping recursive control techniques, a robust adaptive prescribed performance formation output feedback tracking controller is designed. Moreover, the proposed controller can avoid the explosion of complexity and singularity problems in the backstepping design framework. Based on Lyapunov stability theory, it is proved that all signals in the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB), and the formation tracking errors do not exceed the prescribed performance bounds. Finally, the feasibility of the proposed control approach can be further verified through numerical and practical examples.
Keywords:
command filter
input delay
nonlinear MAS
prescribed performance formation control
state observer
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