Fuzzy Logic System-Based Non-Singular Finite-Time Containment Control For High-Order Nonlinear Multi-Agent Systems with Actuation Constraints

In this paper, the non-singular finite-time containment control for high-order nonlinear multi-agent systems with actuation constraints is firstly investigated in this paper. To address avoid singularity in recursive design, the design of Lyapunov functions adopts adding a power integrator technique instead of square. Then, fuzzy logic systems are used to deal with unknown nonlinearities. To achieve the rapid compensation for actuator dead zones and failures, decomposition method and bound estimation method are combined to design novel compensation laws. In the end, a novel finite-time control method is developed to achieve non-singular finite-time containment, which is rigorously confirmed by simulation.

I. Introduction

Multi-agent systems (MASs) means that multiple agents complete tasks through collaboration, which has the char-acteristics of high efficiency and low power consumption, and has been widely concerned by experts and scholars. The aim of containment control is to get all followers to predetermined positions that exist in a convex shell constructed by some leaders [1]–[4]. Moreover, compared with linear system [5], nonlinear system [6] can accurately describe the dynamic model and complex dynamic characteristics of me-chanical structure of physical engineering system in variable environment. For highly uncertaint nonlinear systems, the intelligent control method eliminates complex modeling by applying fuzzy logic system (fls) to deal with uncertainties, thus effectively simplifying the control process [7]–[9].