Prescribed Performance Adaptive Fuzzy Containment Control for Nonlinear Multiagent Systems Using Disturbance Observer

This article focuses on the containment control problem for nonlinear multiagent systems (MASs) with unknown disturbance and prescribed performance in the presence of dead-zone output. The fuzzy-logic systems (FLSs) are used to approximate the unknown nonlinear function, and a nonlinear disturbance observer is used to estimate unknown external disturbances. Meanwhile, a new distributed containment control scheme is developed by utilizing the adaptive compensation technique without assumption of the boundary value of unknown disturbance. Furthermore, a Nussbaum function is utilized to cope with the unknown control coefficient, which is caused by the nonlinearity in the output mechanism. Moreover, a second-order tracking differentiator (TD) is introduced to avoid the repeated differentiation of the virtual controller. The outputs of the followers converge to the convex hull spanned by the multiple dynamic leaders. It is shown that all the signals are semiglobally uniformly ultimately bounded (SGUUB), and the local neighborhood containment errors can converge into the prescribed boundary. Finally, the effectiveness of the approach proposed in this article is illustrated by simulation results.