The adaptive fuzzy containment control problem is discussed for high-order systems with unknown nonlinear dynamics and unmeasurable states guided by multiple dynamic leaders. A high gain observer is introduced to reconstruct the system states. Then, utilizing fuzzy logic systems to model followers’ dynamics, an observer-based adaptive fuzzy containment control approach is presented using only the relative position of the neighbors. It is shown that the uniformly ultimately bounded containment control is realized under the condition that, each follower can obtain the information from at least one leader through a directed path. As an extension, an observer-based containment control with prescribed performance is developed, which guarantees the relative position error to be bounded by a specified bound. The obtained theoretical results are validated by simulation examples.

中文翻译：

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不可测非线性系统的自适应模糊包含控制

针对具有未知非线性动力学和由多个动态前导引导的不可测量状态的高阶系统，讨论了自适应模糊包含控制问题。引入了高增益观察器以重建系统状态。然后，利用模糊逻辑系统对跟随者的动力学进行建模，提出了一种仅基于邻居的相对位置的基于观察者的自适应模糊遏制控制方法。结果表明，在每个跟随者可以通过有向路径从至少一个领导者获得信息的条件下，实现了统一的最终有界收容控制。作为扩展，开发了具有指定性能的基于观察者的安全壳控制，该控件可保证相对位置误差以指定的界限为界。