Adaptive Fuzzy Distributed Optimal Control for Nonlinear Multiagent Systems-Based Multiplayer Differential Graphical Game

This article proposes a new adaptive fuzzy distributed output-feedback optimal control methodology for high-order strict-feedback nonlinear multiagent systems (MASs), which is composed of a fuzzy feedforward output-feedback distributed controller and a fuzzy error feedback correction distributed optimal controller. The fuzzy feedforward distributed controller is designed by backstepping design technique and fuzzy state observer, which can solve unmeasured states problem of the agents and transform the high-order strict-feedback nonlinear MASs into a linearizable feedback nonlinear MASs, while the fuzzy error feedback correction distributed controller is designed for the error nonlinear MASs based on adaptive dynamic programming and multiplayer differential graphical game, which can find a Nash equilibrium solution of the muti-player differential graphical game. It is proved that the formulated adaptive distributed fuzzy optimal control scheme can achieve the global optimal control objective, and make the controlled MASs stable, the followers output follow the leaders output. The simulation results on ship autopilot systems demonstrate its effectiveness.