Fuzzy adaptive control for nonlinear MASs with prescribed performance: a dynamic-topology-against approach

This paper addresses the challenge of adaptive control for nonlinear multi-agent systems (MASs) with prescribed performance operating across interconnected switching topologies. It has been observed that the synchronisation error of local outputs presents discontinuous due to dynamic topology switching. To ensure that the prescribed performance criteria are satisfied in the given context, a novel control approach is proposed to tackle this discontinuity. Specifically, by utilising the minimum dwell time of the jointly connected switching topologies, innovative continuous local output tracking errors and asymmetric continuous performance functions are devised. In the controller design, fuzzy logic systems (FLSs) are applied to model the unknown nonlinearities, which facilitates the synthesis of the backstepping controller. The theoretical contributions of this work are ultimately validated through rigorous numerical simulations, validating the effectiveness of the introduced control methodology.