Fuzzy adaptive containment control of non-strict feedback multi-agent systems with prescribed time and accuracy under arbitrary initial conditions

In this paper, the containment control problem is investigated for a class of non -strict feedback nonlinear multi -agent systems with arbitrary initial states. The state observation disturbance, defined as the deviation between the observed and true values of the state, is taken into account in the addressed system. Fuzzy logic systems and adaptive techniques are accordingly introduced to handle the unknown nonlinear terms and unknown disturbances. Based on a transformation function and a new Lyapunov function, an improved fuzzy adaptive control protocol is developed, which ensures that the output tracking error of each follower converges to a predefined region within a predefined settling time and allows the initial states of the agents to be arbitrarily bounded. Moreover, the error (between the input and output of the filter inherent to the dynamic surface control) can be accurately compensated under the newly designed Lyapunov function. The simultaneous consideration of the asymmetric input saturation and unknown time -varying control gain coefficients in the model makes the results established in this paper more general. Finally, the effectiveness of the proposed control protocol is verified by two simulation experiments.