Adaptive Fuzzy Prescribed Performance Output-Feedback Cooperative Control for Uncertain Nonlinear Multiagent Systems

This article considers the prescribed performance output-feedback cooperative control of multiagent systems with nonparametric uncertainties. Scale and performance functions are proposed to construct a barrier function, based on which the adaptive prescribed performance control scheme is developed. Therein, the fuzzy observers are employed to estimate the unavailable states. The proposed scheme has the following characteristics: first, the tracking errors are always limited to a specified boundary. Second, the tracking error converges to a specified accuracy within a given time, and the settling time and tracking accuracy are determined only by the user and no longer depend on the initial conditions. Third, the distributed fuzzy controller design uses only the output information from agent and its neighbor. The effectiveness and practicality of the proposed method are demonstrated by two simulation examples.