Control barrier functions tracking safety control for multi-agent systems based on fuzzy disturbance observer

In this paper, the distributed cooperative safety tracking control problem is studied for nonlinear multi-agent systems (MASs) with external disturbances. The fuzzy logic systems (FLS) are utilized to approximate unidentified nonlinear dynamics present in a system, while distributed disturbance observers are constructed based on FLSs to estimate the external disturbances. In order to solve the obstacle avoidance problem of the system while achieving trajectory tracking, the high-order control barrier functions (HOCBFs) are adopted to ensure the operational safety of MASs, which enforce the safety constraints during the whole process of system evolution. The optimal control inputs are obtained via solving a quadratic programming (QP) problem to strictly satisfy various safety constraints in the control process. This developed strategy can realize the cooperative obstacle avoidance as well as the safe trajectory tracking control while ensuring the connectivity of the system. The simulation example shows that the control approach is effective and feasible.