The adaptive fuzzy containment control problem is addressed for multiple uncertain nonlinear strict-feedback systems with immeasurable states and multiple leaders under directed communication graphs. By utilizing fuzzy logic systems to model the followers’ dynamics, a distributed fuzzy state observer is designed for the state estimation using only the relative position information. Then, an observer-based containment control scheme is constructed by the adaptive fuzzy control technique as well as the command filter. The filtering error loop is introduced to compensate the error arising from the command filter. The proposed adaptive fuzzy containment control scheme guarantees that all followers are driven into the dynamic convex hull spanned by the leaders with a bounded containment error, if there exists at least one of the leaders who has a directed path to the follower. Simulation results are given to illustrate the control performance of the proposed containment control method.

中文翻译：

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多个不确定非线性系统的基于观测器的自适应模糊遏制控制


针对有向通信图下具有不可测状态和多个领导者的多个不确定非线性严格反馈系统，解决了自适应模糊遏制控制问题。通过利用模糊逻辑系统对跟随器的动态进行建模，设计了一个分布式模糊状态观测器，用于仅使用相对位置信息进行状态估计。然后，通过自适应模糊控制技术和命令滤波器构建基于观测器的遏制控制方案。引入过滤误差环路来补偿命令过滤器产生的误差。如果存在至少一个领导者具有到追随者的有向路径，则所提出的自适应模糊遏制控制方案保证所有追随者都被驱动到由领导者跨越的具有有限遏制误差的动态凸包中。仿真结果说明了所提出的遏制控制方法的控制性能。