Command filter‐based adaptive robust prescribed performance formation control for nonlinear multi‐agent systems

• DOI: 10.1002/acs.3786
• Publication Date: 2024-03-07T01:51:35Z
• Authors: Xuemei Cao; Kewen Li; Yongming Li
• Keywords: Lyapunov stability; Observer (physics)

Summary This paper investigates an observer‐based adaptive robust fuzzy formation tracking control method for nonlinear multi‐agent systems (MAS) with input delay. The considered MAS contains the unknown functions, that is, unmeasured states. logic (FLS) are used to approximate and then a state observer is designed estimate Pade approximation approach introduced solve delay issue. By combining command filtering backstepping recursive techniques, prescribed performance output feedback controller designed. Moreover, proposed can avoid “explosion of complexity” “singularity” problems in design framework. Based on Lyapunov stability theory, it proved all signals closed‐loop system semi‐globally uniformly ultimately bounded (SGUUB), errors do not exceed bounds. Finally, feasibility be further verified through numerical practical examples.