Tracking Control For Nonlinear Multi-agent Systems Under Switching Topologies

Multi-agent systems(MASs)are the system controlled by multiple agents through mutual communication and coordination,which have the advantages of low cost and low complexity,and the system has been applied widely in various fields.In this paper,the finite time tracking control problem for strict-feedback nonlinear MASs subjected timevarying communication topologies and actuator faults and the problem of tracking control for nonlinear uncertain MASs with input delay under denial-of-service(DoS)attack are solved.Based on switched system theory,adaptive neural control method,dynamic surface control method and backstepping method,the sufficient conditions are given for the output signals of MASs to track the reference signal in finite time.Based on state observer,using adaptive neural control method,backstepping method and dynamic surface method,sufficient conditions are proposed to realize the tracking among reference signal and output signal of nonlinear MASs with input delay under poor network environment.Finally,numerical examples are given to verify the rationality of the proposed control scheme.