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Model-free safe synchronization control of high-order nonlinear multi-agent systems based on finite-time data-driven fuzzy predictor

Author

Listed:
  • Li, Huijuan
  • Gu, Nan
  • Peng, Zhouhua
  • Tong, Shaocheng
  • Wang, Anqing

Abstract

This paper investigates the safe synchronization problem for high-order nonlinear multi-agent systems with completely unknown internal uncertainties, unknown external disturbances, and unknown control input gains. A model-free safe synchronization controller based on a finite-time data-driven fuzzy predictor is proposed to achieve leader-follower synchronization and ensure that the system outputs satisfy the safety constraints. Specifically, by utilizing fuzzy logic systems (FLSs) and historical data information, a finite-time data-driven fuzzy predictor is designed to estimate the internal uncertainties, unknown external disturbances, and unknown control input gains, ensuring the boundedness of the estimation errors without requiring persistent excitation. Then, by combining the input-to-state stable control Lyapunov function (ISS-CLF) with the input-to-state safe control barrier function (ISSf-CBF), a model-free safe synchronization controller is proposed that can simultaneously satisfy the ISSf-CBF and ISS-CLF constraints. Thus, the tasks of leader-follower synchronization and system outputs satisfying the safety constraints are jointly achieved. The stability and the safety of the closed-loop system are analyzed. Simulation results illustrate the effectiveness of the proposed model-free safe synchronization control method.

Suggested Citation

  • Li, Huijuan & Gu, Nan & Peng, Zhouhua & Tong, Shaocheng & Wang, Anqing, 2026. "Model-free safe synchronization control of high-order nonlinear multi-agent systems based on finite-time data-driven fuzzy predictor," Applied Mathematics and Computation, Elsevier, vol. 527(C).
    • Handle: RePEc:eee:apmaco:v:527:y:2026:i:c:s0096300326000913
    DOI: 10.1016/j.amc.2026.130039
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