Fully Distributed Adaptive Fuzzy Consensus for Heterogeneous Switched Nonlinear Multiagent Systems Under State-Dependent Switchings
Abstract
This paper presents a discussion on the adaptive fuzzy fully distributed consensus problem of heterogeneous switched nonlinear multi-agent systems (SNMASs). The considered agents contain both first and second-order dynamics. Fuzzy logic systems (FLSs) are introduced to approximate the unknown nonlinear terms of the SNMASs. Influenced by the systems' own factors or the external environment, the subsystems of agents may be unstabilizable and existing control strategies may not be able to ensure the stability of the systems. Therefore, it is necessary to provide a new consensus protocol to address this problem. In this paper, a fully distributed consensus protocol is provided that includes an auxiliary system and a series of state-dependent switching laws. To ensure the stability of whole SNMASs and realize the consensus objective, convex combination technology (CCT) and the single Lyapunov function (SLF) method are adopted. Finally, the effectiveness of the proposed scheme is verified through simulation results.