Adaptive Finite-Time Consensus Tracking for Nonstrict Feedback Nonlinear Multi-Agent Systems With Unknown Control Directions

This paper investigates the finite-time consensus tracking problem for nonstrict feedback nonlinear multi-agent systems with unknown dynamics and control directions. Firstly, the backstepping scheme based on command filter and fractional power control law is proposed, which can not only solve the problem of computational explosion, but also ensure that the state of each agent can follow the leader’s output within a finite time. Then, the error compensation signals are designed to compensate the error caused by filtering. The unknown nonlinear dynamics are approximated by the fuzzy logic system. The state variables problem in the non-strict feedback system is well solved through the scaling of inequalities. By introducing the Nussbaum function, the intermediate input signal and control input signal based on adaptive control law are designed respectively, and the problem of unknown control directions is solved. Simulations are given to show the effectiveness of the presented method.