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.