FUZZY ADAPTIVE CONSENSUS OF SECOND-ORDER NONLINEAR MULTI-AGENT SYSTEMS IN THE PRESENCE OF INPUT SATURATION

This paper studies the consensus problem of second-order nonlinear multi agent systems with a leader. A fuzzy adaptive consensus method with prescribed performance is proposed for second-order nonlinear multi-agent systems with unknown dynamics in the presence of input saturation. An auxiliary system is introduced to counteract the effect of input saturation and fuzzy logic systems are used to approximate the unknown dynamics. By combining prescribed performance control and dynamic surface control technique, consensus controllers are developed to guarantee that the outputs of all followers can track that of the leader, and synchronization errors stay in the predefined bounds. The proposed consensus scheme can overcome the effect of input saturation and guarantee the steady and transient performances simultaneously. Simulation results are provided to show the effectiveness of the proposed method.