In this paper, the distributed adaptive fuzzy containment control problem is investigated for a class of uncertain nonlinear systems guided by multiple dynamic leaders. Each follower is modeled by nonlinear strict-feedback systems subject to full state constraints. The function approximation technique using fuzzy logic systems is utilized to identify the unknown nonlinearities of each follower. Both the state feedback containment control and the observer-based output feedback containment control are constructed by combining distributed sliding-mode estimators with adaptive fuzzy backstepping control. To prevent constraint violation, multiple barrier Lyapunov functions associated with error surfaces are introduced in the control design. It is proven that uniformly ultimately bounded containment control is achieved without violating full state constraints under the condition that for each follower, there exists at least one leader that has a directed path to that follower. Simulation studies are performed to show the effectiveness of the proposed theoretical results.

中文翻译：

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全状态约束非线性严格反馈系统的自适应模糊遏制控制


本文研究了多动态引导的一类不确定非线性系统的分布式自适应模糊遏制控制问题。每个跟随者均由受完全状态约束的非线性严格反馈系统建模。利用模糊逻辑系统的函数逼近技术来识别每个跟随器的未知非线性。状态反馈遏制控制和基于观测器的输出反馈遏制控制都是通过将分布式滑模估计器与自适应模糊反步控制相结合来构造的。为了防止违反约束，在控制设计中引入了与误差面相关的多个障碍李亚普诺夫函数。事实证明，在不违反完整状态约束的情况下，可以实现一致的最终有界遏制控制，条件是对于每个追随者，存在至少一个具有到该追随者的定向路径的领导者。进行模拟研究以显示所提出的理论结果的有效性。