Fixed-Time Adaptive Fuzzy Containment Dynamic Surface Control for Nonlinear Multiagent Systems

This article investigates the fixed-time adaptive fuzzy containment control problem for nonlinear multiagent systems under the directed communication topologies. The controlled systems have the unknown internal dynamics and mismatched disturbances, and fuzzy logic systems are utilized to identify the unknown internal dynamics. The mismatched disturbances and approximate errors are reconstructed via a disturbance observer. Then, by introducing an adding power integral method, a fixed-time adaptive fuzzy containment DSC scheme is developed to deal with the problem of “computation complexity.” The presented containment control method can not only guarantee that the controlled system is semiglobal practical fixed-time stable, but also avoid the “singular problem” in fixed-time backstepping recursive control technology. Finally, an application of marine surface vehicle is provided to verify the effectiveness of the presented fixed-time fuzzy containment control method.

I. Introduction

Multiagent systems (MASs) have received extensive attention in the past years because of their wide applications in mobile robots, sensor networks, autonomous driving systems, autonomous surface vehicles, etc. [1]–[5]. The containment control problems on MASs are to design control protocols to make all agents track multiple leaders’ trajectories based on the local information of each agent and its neighbor. As such, many important and interesting containment control approaches have been reported, for example, (see [6]–[11]). The authors in [6] and [7] first proposed two kinds of distributed containment control methods for first-order linear MASs, which make all followers into a convex hull built by multiple leaders. A sampled data based containment control approach was developed for second-order continuous-time linear MASs in [8]. In [9], the authors gave a containment controller for discrete-time MASs. While in [10] and [11], the authors studied two kinds of containment control problems for heterogeneous MASs. Furthermore, to deal with the containment control problem in nonlinear MASs, some control design methods, such as robust control, sliding-mode control, and adaptive control design methodologies were developed [12], [13].