A Novel Fuzzy Adaptive Consensus Algorithm for General Strict-feedback Nonlinear Multi-agent Systems Using Backstepping Approaches
Yahui Li, Hong Zhao, Chenlin Wang, Jianyou Huang, Kunyuan Li, Lei Zhang · 2023
In this paper, a novel fuzzy adaptive consensus algorithm is presented for a class of nonlinear strict-feedback multi-agent systems (MASs) with heterogeneous dynamics, and these systems are all in much more general form with unknown gain functions. By a special design scheme, the controller singularity problem is avoided perfectly. The proposed controllers can guarantee that the outputs of all agents are semiglobally uniformly bounded and the tracking errors converge to a small neighborhood of the desired signal. Furthermore, by taking use of the special property of the fuzzy systems, the fuzzy adaptive algorithm is easy to be realized and applied. Simulation results show the effectiveness of the approach.