Prescribed-Time Observer-Based Fuzzy Adaptive Practical Prescribed-Time Formation Control of Nonlinear Multi-Agent Systems with Unmodeled Dynamics

Abstract

This article investigates the fuzzy adaptive practical prescribed-time formation control of nonlinear multi-agent systems with unmodeled dynamics based on a prescribed-time observer. At first, a prescribed-time observer is developed for followers to estimate the leader’s states. Then, fuzzy logic systems combined with adaptive methods are employed to approximate unknown continuous nonlinear functions. To compensate for the effects of unmodeled dynamics, a sliding-mode control strategy is incorporated. On these bases, a fuzzy adaptive practical prescribed-time formation control protocol is designed. This protocol guarantees that the formation error converges to a small neighborhood around zero within an arbitrary prespecified time. Finally, simulation results are provided to demonstrate the effectiveness of the proposed approach.