Adaptive Fuzzy Containment Control of Nonlinear Strict-Feedback Systems With Full State Constraints

In this paper, the distributed adaptive fuzzy containment control problem is investigated for a class of uncertain nonlinear systems guided by multiple dynamic leaders. Each follower is modeled by nonlinear strict-feedback systems subject to full state constraints. The function approximation technique using fuzzy logic systems is utilized to identify the unknown nonlinearities of each follower. Both the state feedback containment control and the observer-based output feedback containment control are constructed by combining distributed sliding-mode estimators with adaptive fuzzy backstepping control. To prevent constraint violation, multiple barrier Lyapunov functions associated with error surfaces are introduced in the control design. It is proven that uniformly ultimately bounded containment control is achieved without violating full state constraints under the condition that for each follower, there exists at least one leader that has a directed path to that follower. Simulation studies are performed to show the effectiveness of the proposed theoretical results.