Finite-Time Adaptive Fuzzy Prescribed Performance Formation Control for High-Order Nonlinear Multiagent Systems Based on Event-Triggered Mechanism

Abstract

This paper investigates the finite-time adaptive fuzzy prescribed performance formation control problem for high-order nonlinear multi-agent systems (MASs). Fuzzy logic systems (FLSs) are adopted to approximate the unknown nonlinear dynamics. By combining the dynamic surface control (DSC) technique and backstepping recursive design, an adaptive fuzzy prescribed performance formation control algorithm is developed. To reduce unnecessary transmission of network resources, a novel event-triggered mechanism is proposed in the control method. Subsequently, based on the adding power integral method and finite-time stability theory, it is proved that all signals of the controlled system are bounded and the tracking errors do not exceed the prescribed performance bounds in a finite time. Simulation results are given to verify that the presented formation control scheme achieves desired results.