Consensus Control of Nonlinear Fractional-Order Multiagent Systems With Input Saturation: A T–S Fuzzy Method

Abstract

This article mainly investigates the consensus control of fractional-order multi-agent systems (FOMASs) with partially unknown control directions and saturated inputs, where error dynamics between the leader and all followers are characterized via a fractional-order Takagi–Sugeno fuzzy control strategy incorporating “IF–THEN” rules. A novel Nussbaum function is employed to handle with partially unknown control directions. Consensus performance is derived based on fractional-order Lyapunov stability criteria. The proposed control strategy not only ensures asymptotic consensus of FOMASs, but also makes all closed-loop signals uniformly bounded. A chief merit is avoiding solving cumbersome linear programming hassles, which lightens the computational burden. Besides, the raised scheme is generalized to handle with the formation control of FOMASs. Finally, the authenticity of the theory is confirmed through numerical simulations.