Fuzzy Adaptive Exact-Optimal Consensus Output-Feedback Control for Uncertain Nonlinear High-Order Multi-Agent Systems

The fuzzy adaptive exact-optimal consensus output-feedback control problem is investigated for uncertain nonlinear high-order multi-agent systems (MASs) with unmeasurable states and unknown nonlinear dynamics. Fuzzy logic systems (FLSs) are utilized to model unknown agents, a fuzzy state observer with asymptotical property is established. Since the optimal point is unknown, optimal signal generator is formulated to obtain the optimal point. Based on the designed fuzzy state observer and optimal signal generator, a fuzzy adaptive exact-optimal consensus output-feedback control scheme is proposed by using backstepping control technology. It is proved that the presented control method can guarantee the controlled nonlinear MASs are asymptotically stable and the outputs of all agents asymptotically converge to the optimal point. Finally, we apply the proposed fuzzy adaptive exact-optimal consensus output-feedback control approach to multiple unmanned surface vehicles, the simulation results and comparison results verify its effectiveness.