Disturbance observer-based adaptive fuzzy finite-time cooperative control for high-order multi-agent systems with input saturation

Abstract

This paper addresses the problem of adaptive fuzzy finite-time cooperative control for high-order multi-agent systems, with particular attention to the issue of input saturation. To this end, a fuzzy adaptive controller is proposed by integrating adaptive control, disturbance observers, dynamic surface control, and fuzzy logic techniques. First, fuzzy logic systems are embedded within the dynamic surface control framework to effectively compensate for nonlinearities in the system. Second, a disturbance observer is introduced to facilitate the estimation of unknown and mismatched disturbances. In addition, a command filtering method is employed to mitigate the “explosion of complexity”. Notably, the proposed approach guarantees that the formation error converges to a small neighborhood around zero in finite time. Finally, the effectiveness of the proposed algorithm is demonstrated through its application to the cooperative control of unmanned surface vehicles.