Observer-Based Adaptive Fuzzy Containment Control for Multiple Uncertain Nonlinear Systems

The adaptive fuzzy containment control problem is addressed for multiple uncertain nonlinear strict-feedback systems with immeasurable states and multiple leaders under directed communication graphs. By utilizing fuzzy logic systems to model the followers' dynamics, a distributed fuzzy state observer is designed for the state estimation using only the relative position information. Then, an observer-based containment control scheme is constructed by the adaptive fuzzy control technique as well as the command filter. The filtering error loop is introduced to compensate the error arising from the command filter. The proposed adaptive fuzzy containment control scheme guarantees that all followers are driven into the dynamic convex hull spanned by the leaders with a bounded containment error, if there exists at least one of the leaders who has a directed path to the follower. Simulation results are given to illustrate the control performance of the proposed containment control method.