Adaptive Fuzzy Control for Unknown Nonlinear Multiagent Systems With Switching Directed Communication Topologies

Addressing for the consensus control of multiagent system (MAS) under the conditions that the directed communication topologies are switching and system nonlinearities are completely unknown, a global consensus control with fully distributed manner is proposed combining with fuzzy logic systems (FLSs). FLSs are used to approximate the unknown disturbances to enhance system robustness. To deal with the switching topologies of MAS, a reconstructing mechanism using a novel piecewise differentiable function is first proposed for the state and consensus errors of agents, which renders the state and consensus errors zero at each switching time instant and facilitates to the control design based on barrier functions, against the unexpected controller action at switching time instant. Incorporating with this reconstructing mechanism, a novel distributed controllers is designed, which is featured with low-complexity structure, fully distributed manner, and adaptively reconstructing ability. These technical attempts contribute to some new results. First, the global consensus of MAS with switching directed topologies and unknown nonlinearities is first achieved. Second, the consensus errors can be explicitly regulated to a prespecified arbitrary small residual set in the sense that the range of the set is the predefined functions given by designer. Finally, simulation results demonstrate the claims.