This article studies the output-feedback fixed-time fuzzy consensus control problem for nonlinear multiagent systems (MASs) under the directed communication topologies. Since the controlled systems contain the unmeasurable states and unknown dynamics, the unmeasurable states are reconstructed via linear state observers, and fuzzy logic systems are utilized to identify the unknown internal dynamics. By constructing the integral type Lyapunov function, a fixed-time adaptive fuzzy consensus control scheme is developed by introducing the nonlinear filter technique into the backstepping recursive technique adaptive control algorithm. The presented consensus control method can not only guarantee the controlled system is semi-global practical fixed-time stable (SGPFTS), but also avoid the singular problem in existing backstepping recursive control design methods. Finally, an application of unmanned surface vehicles is provided to verify the effectiveness of the presented fixed-time fuzzy consensus control method.

中文翻译：

---

非线性多智能体系统中基于观察者的固定时间自适应模糊一致性 DSC


本文研究了定向通信拓扑下非线性多智能体系统（MAS）的输出反馈固定时间模糊一致控制问题。由于受控系统包含不可测状态和未知动态，因此通过线性状态观测器重建不可测状态，并利用模糊逻辑系统来识别未知的内部动态。通过构造积分型Lyapunov函数，将非线性滤波技术引入到反步递归技术自适应控制算法中，提出了一种固定时间自适应模糊一致控制方案。所提出的一致性控制方法不仅可以保证受控系统的半全局实用固定时间稳定（SGPFTS），而且可以避免现有反步递归控制设计方法中的奇异问题。最后，通过无人地面车辆的应用验证了所提出的固定时间模糊一致性控制方法的有效性。