Fuzzy Dynamic Event-Triggered Containment Control for Human-in-the-Loop MASs With Error Constraints

In this article, the fuzzy dynamic event-triggered (DET) containment control problem for human-in-the-loop (HiTL) multiagent systems (MASs) with error constraints is investigated. Through utilization of fuzzy logic systems (FLSs), a high-gain state observer is presented to estimate unavailable states. To improve the transient performance, a fixed-time prescribed performance (FTPP) function is presented to restrict the containment errors and virtual errors. Under the backstepping control framework, a barrier Lyapunov function is designed to guarantee that the transform errors do not transgress the constraint bounds. Meanwhile, a nonlinear filter is introduced to obtain reduction calculation and enhance the control performance. Furthermore, the DET mechanism is presented to decrease the network communication burden. By directly controlling multiple leaders to form a dynamic convex hull, the proposed control strategy ensures that output signals of followers can converge to this convex hull and the containment errors can converge to the prescribed bounds within fixed time. Herein, a simulation example is presented to assess the effectiveness of the proposed control scheme.