Adaptive Fuzzy Event‐Triggered Finite‐Time Consensus Tracking Control for Nonlinear Time‐Delay Multi‐Agent Systems with Full State Constraints

This paper considers the problem of adaptive fuzzy dynamic event‐triggered finite‐time control for nonlinear multi‐agent systems with unknown time delays and full state constraints. The Lyapunov–Krasovskii function and barrier Lyapunov function (BLF) are adopted owing to the time‐varying delays and constrained states, respectively. To avoid the explosion of complexity (EOC) problem, a command filtered backstepping process is designed, where fuzzy logic systems (FLSs) are employed to estimate the unknown nonlinearities. Combining the dynamic event‐triggered controller and finite‐time theorem, it is proved that all the signals in the closed‐loop are bounded, and the consensus errors can converge to a small neighbor of the origin in finite time. Moreover, the full state constraints are not violated, and Zeno behavior is excluded. Finally, the effectiveness of the control scheme is verified by the ultimate simulation results of a provided example.