Adaptive Asymptotic Tracking Funnel Constraint Control for High-Power Nonlinear Multi-Agent Systems With Non-Affine Nonlinear Faults and Fixed-Time Convergence

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Abstract
This article endeavors to discuss the adaptive fuzzy funnel consensus tracking issue for uncertain nonlinear multi-agent systems (MASs) with unknown dynamics, non-affine nonlinear faults (NANFs), high powers (possibly different), performance constraints and fixed-time convergence. The performance constraints include pre-specified transient and steady-state tracking error behaviors. Firstly, to overcome the “explosion of complexity” issue, an enhanced nonlinear filter with adaptive parameter estimator and cubic function is constructed, which can ensure that the boundary layer errors fixed-time convergence and fully compensate their effects. Then, under the backstepping and separation function framework, a distributed algorithm is presented via Butterworth low-pass filter (BLPF) technique, funnel method and dynamic surface control (DSC) technique. The results confirm that the proposed algorithm can not only guarantee the considered MASs is practical fixed-time stability (PFTS), but also ensure the asymptotic convergence of the consensus errors and meet the constraints imposed by the funnel. Moreover, compared to the barrier Lyapunov function (BLF) technique for MASs, the considered system is more versatile, and the complex control algorithm can be avoided. Finally, simulation results are performed to verify the effectiveness of the developed theoretical findings. Note to Practitioners —It is well known that some underactuated and weakly coupled mechanical systems cannot be accurately represented by traditional low-power models. Therefore, it is of great practical significance to study high-power systems to better understand and control this kind of complex systems. Besides, in actual complex systems, actuator failures are inevitable, for example, in the process of signal processing, image processing, communication and wireless transmission, etc., may suffer from non-affine faults. Furthermore, to optimize system performance, some engineering applications often require to constraint the convergence time, the maximum error overshoot and the minimum steady-state error. Thus, the distributed fixed-time funnel performance constraint control is studied for MASs with NANFs.
Funding Information
  • National Natural Science Foundation of China (62273079, 61420106016)
  • Fundamental Research Funds for the Central Universities in China (N2004002, N2104005, N182608004)
  • Research Fund of State Key Laboratory of Synthetical Automation for Process Industries in China (2013ZCX01)
  • 1912 Project

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