Fuzzy adaptive tracking control of fractional-order multi-agent systems with partial state constraints and input saturation via event-triggered strategy

This paper addresses the problem of adaptive tracking control for fractional-order multi-agent systems subject to input saturation and partial state constraints, utilizing an event-triggered strategy with output feedback. The interconnected graph of multiple agents is assumed to be directed and contain a spanning tree. Since only the system output is available, a fractional order state observer is designed to obtain the unmeasurable states. The nonlinear dynamics of the system are assumed to be unknown and are approximated by a fuzzy logic system. By utilizing the barrier Lyapunov function, backstepping procedure and dynamic surface control technique, an event-triggered adaptive control scheme is proposed to ensure that the constrained states remain within their bounds, all system signals are bounded, tracking error converges to a bounded set containing the origin, and no Zeno behavior occurs. Finally, the validity of the presented method is verified by simulation.