This article is concerned with the finite-time containment control problem for nonlinear multiagent systems, in which the states are not available for control design and the control input contains time delay. Fuzzy-logic systems (FLSs) are used to approximate the unknown nonlinear functions and a novel distributed fuzzy state observer is proposed to obtain the unmeasured states. Under the framework of cooperative control and finite-time Lyapunov function theory, an observer-based adaptive fuzzy finite-time output-feedback containment control scheme is developed via the adaptive backstepping control design algorithm and integral compensator technique. The proposed adaptive fuzzy containment control method can ensure that the closed-loop system is stable and all followers can converge to the convex hull built by the leaders in finite time. A simulation example is provided to confirm the effectiveness of the proposed control method.

中文翻译：

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具有输入时滞的非线性多主体系统基于观测器的模糊自适应有限时间约束控制

本文涉及非线性多主体系统的有限时间约束控制问题，该问题的状态无法用于控制设计，并且控制输入包含时间延迟。使用模糊逻辑系统（FLSs）来近似未知的非线性函数，并提出了一种新颖的分布式模糊状态观测器来获取未测状态。在协同控制和有限时间Lyapunov函数理论的框架下，通过自适应反步控制设计算法和积分补偿技术，开发了一种基于观测器的自适应模糊有限时间输出-反馈包含控制方案。提出的自适应模糊约束控制方法可以确保闭环系统稳定，并且所有跟随者都可以在有限的时间内收敛到领导者建造的凸包中。