Prescribed-Time Adaptive Intelligent Formation Controller for Nonlinear Multi-Agent Systems Based on Time-Domain Mapping

This paper investigates an adaptive fuzzy prescribed-time formation control problem for non-strict feedback nonlinear multi-agent systems subjected to uncertain external disturbances. Firstly, through time domain mapping, the prescribed-time formation control problem of the original system is converted to asymptotic convergence problem of the transformed system. Secondly, the fuzzy logic systems (FLSs) are used to approximate the unknown nonlinear dynamics and the bounded estimation algorithm is utilized to design the intermediate controllers and parameter adaptive laws. Finally, by introducing an integrable function into the backstepping recursive design, an adaptive fuzzy prescribed-time formation control method is developed. Based on the Lyapunov stability theory, it is proved that the closed-loop system is stable, and the formation error converges asymptotically to zero in prescribed-time. Additionally, a numerical simulation is given to further illustrate the feasibility of the presented formation control method and theory.