Distributed Fuzzy Adaptive Output-Feedback Control of Unknown Nonlinear Multiagent Systems in Strict-Feedback Form

This article is concerned with the cooperative tracking control problem for heterogeneous multiagent systems in a leader-following form under a directed graph. The dynamics of each following agent is unknown, obeying a strict-feedback form. With the help of fuzzy-logic systems, input filters, and constraint-handling schemes, a fully distributed output-feedback control algorithm is proposed to achieve output synchronization with prescribed performance and guarantee boundedness of signals in the closed-loop systems. In addition, the algorithm exhibits a simplicity control attribute in the sense that: 1) the control design utilizes only relative output measurements, and no extra information needs to be transmitted via the network and 2) the issue of explosion of complexity is addressed, without employing command filters or dynamic surface control techniques. Finally, the simulation results clarify and verify the established theoretical findings.