Time-Domain Mapping-Based Adaptive Fuzzy Formation Control of Nonlinear Multi-Agent Systems With Input Saturation

In this paper, an adaptive fuzzy prescribed time formation control problem is studied for nonlinear multi-agent systems (MASs) with input saturation under undirected graphs. Firstly, by introducing time-domain mapping, the original nonlinear MASs is transformed into an equivalent time-varying system. Then, the prescribed time formation control problem of the original system can be further transformed into the asymptotic tracking control problem in the infinite time domain. Secondly, fuzzy logic systems (FLSs) are used to approximate the unknown nonlinear dynamics, and the input saturation problem is solved by introducing an auxiliary subsystem. An adaptive fuzzy prescribed time formation control scheme is proposed by combining command filtering technique and backstepping recursive design techniques. By the aid of Lyapunov stability theorem, all signals of the controlled system are bounded, and formation tracking errors asymptotically converge to zero within a prescribed time. In addition, the influence raised by the input saturation can be effectively offset. Finally, the feasibility of the proposed prescribed time formation control scheme can be further verified by a numerical simulation.