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Adaptive fuzzy tracking control for a class of non-affine stochastic nonlinear high-order multi-agent systems with non-lower triangular structure

This paper considers the problem of the adaptive fuzzy tracking control for a class of high-order multi-agent systems which are non-affine stochastic nonlinear systems without lower triangular form. Fuzzy logic system and mean value theorem are used to overcome the design difficulties in unknown nonlinear and non-affine structures, respectively. A direct adaptive fuzzy control method is proposed by using adaptive control and backstepping method. According to Lyapunov stability theory, the proposed controller can ensure that all signals in the closed-loop system are bounded in the sense of mean quartic value, and the output signals of the subsystems can track the output signal of the leader well. Simulation results show the effectiveness of the proposed control scheme.