Event-Triggered Finite-Time Tracking Control for Fractional-Order Multi-Agent Systems with Input Saturation and Constraints

This paper focuses on the finite-time tracking control problem of fractional-order multi-agent systems subject to input saturation and constraints. The interaction topology is assumed to be directed and contain a spanning tree. The appropriate barrier Lyapunov functions are constructed to tackle the output and partial states constraints. Since only the system output is available, a reduced-order state observer is constructed to obtain the unmeasurable state variables. Fuzzy logic system is applied to tackle the uncertain nonlinear dynamics in the system and the unknown parameters are estimated by adaptive laws. An event-triggered control scheme is designed to reduce communication burden. The proposed distributed controller can guarantee that all signals of the system are bounded, the constrained states never breach the time-varying constraints, finite-time tracking can be achieved with a bounded error and the Zeno behavior does not occur. At last, the effectiveness of the proposed control scheme is validated by an example.