Consensus Control For High-order Nonlinear Multi-agent Systems With State Time-delays And Constraints

The consensus control of multi-agent systems has been increasingly applied to many fields,such as sensor networks,the aerospace technology,intelligent transportation.Therefore,the consensus problem has been favored by many scholars.In real systems,the limitation of bandwidth and channel capacity in networks may lead to network congestion,and then result in delays in information transmission.The research on constraints has been applied to many fields,which can ensure that the performance of the control system meets the preset constraints requirements.Therefore,considering the state time-delays and constraints,this paper studies the problem of nonlinear multi-agent system leader-following consensus control problem.The main research works are as follows.Firstly,an adaptive fault-tolerant controller is designed for leader-following consensus control problem of nonlinear multi-agent system with state time-delays and asymmetric constraints.By using an asymmetric barrier Lyapunov function,output errors are ensured to meet the asymmetric constraints requirement.Lyapunov-Krasovskii functional and Young inequality are employed to eliminate the effects of state time-delays.The radial basis function neural networks are utilized to approximate the unknown nonlinear function.The adaptive laws are used to solve actuator faults.According to the Lyapunov stability theory,the closed-loop systems are semi-globally bounded stability.The validity of the designed control strategy is verified by simulation.Secondly,an adaptive controller is proposed for leader-following consensus control problem of nonlinear multi-agent system with state time-delays and prescribed time constraint.By introducing a prescribed time performance function,the output error satisfies prescribed performance within prescribed time.Furthermore,the unknown nonlinear function is approximated by fuzzy logic system.The mean-value theorem and Nussbaum function are utilized to address the problems of input saturation and unknown control direction,respectively.Based on the theory of Lyapunov stability,the semi-global bounded stability of closed-loop systems is proved.The validity of the designed control strategy is verified by simulation.Finally,an adaptive event-triggered controller is designed for leader-following consensus control problem of nonlinear multi-agent system with state time-delays and full state constraints.By introducing a performance function,output error satisfies prescribed performance.Furthermore,the full state constraints problem is solved by employing the barrier Lyapunov function.The radial basis function neural networks are utilized to approximate the unknown nonlinear function.According to the Lyapunov stability theory,the closed-loop systems are semi-globally bounded stability.The validity of the designed control strategy is verified by simulation.