Observer-Based Adaptive Fuzzy Formation Control of Nonlinear Multi-Agent Systems with Nonstrict-Feedback Form

Abstract

An adaptive fuzzy formation control problem is investigated for a nonlinear nonstrict-feedback multi-agent system with unmeasurable state in this paper. Fuzzy logic systems (FLSs) are employed to approximate the unknown nonlinear functions of the nonlinear multi-agent system. A distributed fuzzy state observer is constructed to estimate unmeasurable states. The repeated differentiations problem of virtual controllers can be avoided by introducing a first-order filter into the backstepping technique. The proposed fuzzy adaptive formation control method can ensure the close-loop system is stable, and the target of the formation performance between all the agents and leader can be achieved. A simulation example can illustrate the effectiveness of the proposed control method.