Dynamic Self-Triggered Fuzzy Bipartite Time-Varying Formation Tracking for Nonlinear Multiagent Systems With Deferred Asymmetric Output Constraints

In this paper, an adaptive fuzzy bipartite formation tracking control strategy of nonlinear multi-agent systems (MASs) is developed under a directed communication topology. Fuzzy logic systems are utilized to approximate the unknown nonlinear dynamics. Then, considering MASs with both cooperative and competitive relationships, the proposed bipartite formation tracking strategy allows each agent to operate according to their specific advantages. By employing a nonlinear state transformation function, the original constrained outputs of the MASs are converted into unconstrained ones. Meanwhile, a prescribed-time shifting function is introduced to handle the deferred output constraints, by which the singularity problem generated from the denominator of nonlinear state transformation functions is avoided. In addition, considering the communication bandwidth is limited, a distributed dynamic self-triggered control (DSTC) mechanism is constructed to improve the transmission efficiency. Different from the traditional self-triggered control strategy, the proposed DSTC strategy allows triggered intervals to be adjusted dynamically according to bipartite formation tracking errors, which enables the DSTC strategy to compromise communication burdern and system performances dynamically. Finally, two simulation examples are given to illustrate the validity of the proposed control scheme.