Adaptive fixed-time fuzzy containment control for uncertain nonlinear multiagent systems with unmeasurable states

This paper addresses the adaptive fixed-time fuzzy containment control for uncertain nonlinear multiagent systems, where the states and nonlinear functions are not feasible for the controller design. To address the issue of unmeasurable states, a state observer is developed, and fuzzy logic systems are utilized to approximate unknown nonlinear functions. Under the framework of fixed-time Lyapunov function theory and cooperative control, an adaptive fixed-time fuzzy containment control protocol is derived via the adaptive backstepping and adding one power integrator method. The derived fixed-time containment controller can confirm that the closed-loop systems are practical fixed-time stable, which implies that all signals in the systems are bounded and all follower agents can converge to the convex hull formed by the leader agents within fixed-time in the presence of unmeasurable states and unknown nonlinear functions . Simulation examples are conducted to test the validity of the present control algorithm.