Prescribed-time containment control with prescribed performance for uncertain nonlinear multi-agent systems |
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| Authors: | Dacai Liu Zhi Liu CL Philip Chen Yun Zhang |
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| Institution: | 1. School of Automation, Guangdong University of Technology, Guangzhou, Guangdong 510006, China;2. Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangzhou, Guangdong 510006, China;3. School of Computer Science and Engineering, South China University of Technology, Guangzhou, Guangdong 510006, China;1. Institute of Complexity Science, Qingdao University, Qingdao 266071, PR China;2. Shandong Key Laboratory of Industrial Control Technology, Qingdao University, Qingdao 266071, PR China;1. Key Laboratory of Dependable Service Computing in Cyber Physical Society, Ministry of Education, and School of Automation, Chongqing University, Chongqing 400044, China;2. School of Electrical Engineering and Computing, The University of Newcastle, Callaghan, NSW 2308, Australia |
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| Abstract: | The existing studies on prescribed-time control cannot directly deal with nonlinear functions which don’t satisfy Lipschitz growth conditions. No results are available for prescribed-time containment control of pure-feedback UNMASs with prescribed performance. Therefore, completely unknown nonlinear function, prescribed-time tracking of system states and prescribed performance of containment errors are simultaneously considered in this paper. Fuzzy logic systems are utilized to approximate completely unknown nonlinear function. Prescribed-performance function is introduced and further incorporated into a novel speed function. Combining the proposed speed function and barrier Lyapunov function, this article presents a novel adaptive fuzzy prescribed-time containment control method which can guarantee, under prescribed performance, all followers converge to a convex formed by dynamic leaders in a prescribed time. Moreover, all tracking errors converge to predefined regions in a prescribed time. The effectiveness of the proposed prescribed-time containment control method are confirmed by strict proof and simulation. |
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