Observer-Based Adaptive Fuzzy Fractional Backstepping Consensus Control of Uncertain Multiagent Systems Via Event-Triggered Scheme

Unlike conventional integer-order backstepping technique, this paper provides an observer-based event-triggered adaptive fuzzy fractional backstepping control method for uncertain integer-order multiagent systems with the target of reaching a leader-follower consensus protocol. Through employing the fuzzy logic system with arbitrary approximation accuracy to unknown nonlinear functions, a fuzzy state observer is devised to estimate unmeasurable states that are not completely available. Fractional calculus with arbitrary non integer orders operator is introduced into the design of control laws to further improve system performance. An event-triggered mechanism with freely adjustable threshold variable is established to debase energy wastage and computation cost. Theoretical analysis verifies that the proposed method can guarantee that the internal signals of the entire closed-loop system are ultimately uniformly bounded and the synchronization errors gradually converge to a small neighboring area of the origin. Besides, Zeno's behavior is excluded. Finally, the authenticity and reliability of the theory are demonstrated by an actual inverted pendulum model.