Distributed fuzzy adaptive event-triggered finite-time consensus tracking control for uncertain nonlinear multi-agent systems with asymmetric output constraint

This article investigates the consensus problem for uncertain nonlinear multi-agent systems (MASs) with asymmetric output constraint. Different from BLF-based constraint consensus tracking control, a novel approach based on nonlinear state-dependent function is proposed to solve the asymmetric output constraint, which need not convert output constraint into tracking error bound. First-order sliding mode differentiator is incorporated into each step of backstepping control design to reduce computation burden. Further, in combination of proposed event-triggered mechanism based on time-varying threshold, a distributed fuzzy adaptive event-triggered finite-time consensus method is developed. It can ensure that the consensus tracking error tends to a small neighbor in a finite time and the asymmetric output constraint of each subsystem is not violated. Two simulations are given to demonstrate the effectiveness of control method.