Adaptive fuzzy coordinated tracking control of networked unknown Lagrange systems

This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems on digraphs. By using the universal approximation capability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is proposed. Based on graph theory and Lyapunov theory, the convergence analysis for the proposed algorithm is provided. The development in this paper is suitable for the general directed communication topology, which is only required to have a spanning tree. Experimental results of distributed adaptive fuzzy control are demonstrated on a multi-robot platform to validate the effectiveness of the proposed algorithms.