Adaptive Fuzzy Prescribed-Time Formation Control for Nonlinear Multi-Agent Systems

摘要

This paper discusses the issue of achieving the prescribed-time formation (PTF) over a directed topology for nonlinear multi-Agent systems (NMASs). A novel PTF protocol framework is proposed through the incorporation of a time-varying function for NMASs. Fuzzy Logic Systems (FLSs) are used to approximate potentially unknown nonlinear functions within the system. It is crucial to note that incorporating the adaptive control technique into the proposed protocol framework eliminates the adverse impact stemming from fuzzy approximation errors. Consequently, the formation errors of each agent converge to zero within the prescribed time. Additionally, through the introduction of a novel adaptive law, the protocol framework is further expanded to the NMASs with disturbances. Both the benefits and efficacy of the presented protocol are shown through numerical examples. Note to Practitioners—This paper delves into the pivotal issue within the realm of NMASs concerning prescribed-time formation control. This paper is motivated by the observation that current practices utilizing fuzzy controllers may not achieve the convergence of system formation errors to zero within the user-defined time frame. To solve this, the introduction of a prescribed-time control methodology is advocated, poised to expedite the formation convergence. Furthermore, the incorporation of an adaptive fuzzy controller is proposed to address challenges stemming from inaccurate system modeling, thereby ensuring the stringent control accuracy. The proposed framework harbors considerable potential for application across diverse industrial contexts, encompassing the realms of mobile robotics, unmanned aerial vehicles, and vehicular traffic management systems. Subsequent research endeavors can delve deeper into refining this approach and investigating methodologies for attaining prescribed time control within switched multi-agent systems.