Adaptive consensus tracking control for disturbed multi-agent systems with irregular constraints

To address the issue of consensus tracking for multi-agent systems with irregular state constraints, this paper presents an adaptive fuzzy consensus tracking control method. First, considering the non-differentiable characteristics of irregular state constraint boundaries in multi-agent systems, a collision avoidance function with dynamic heterogeneity is devised. This function addresses the issue of non-smooth control signal jumps triggered by non-differentiable hard constraints on state variables. It eliminates the strong assumption of a fixed topological structure of the constraint boundaries. Second, to address the oscillation conflict caused by the coupling of dead zones, saturation inputs, and irregular state constraint switching in multi-agent systems, a distributed smooth disturbance approximation method without prior knowledge of boundaries is constructed to ensure local disturbance suppression and global constraint coordination. Then, to avoid the risk of cooperative instability in multi-agent systems caused by abrupt changes in dynamic irregular state constraints, an adaptive fuzzy control method based on asymmetric restricted error transformation is proposed. This approach ensures that the outputs of multi-agent systems can consistently track a common desired trajectory. Finally, the effectiveness of the proposed method is verified through two simulation examples.