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

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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.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (61903169; 51674140), the Natural Sciences and Engineering Research Council of Canada (NSERC) and the Natural Science Foundation of Liaoning (2019-BS-126; 2019-MS-173; 2019LNQN05).

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Authors and Affiliations

  1. School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, 114051, China

    Yang Cui, Xin Deng & Qian Wang

  2. Department of Electrical Engineering, Lakehead University, Thunder Bay, P7B5E1, Canada

    Xiaoping Liu

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  1. Yang Cui
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  2. Xiaoping Liu
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  3. Xin Deng
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  4. Qian Wang
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Correspondence to Yang Cui.

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Cui, Y., Liu, X., Deng, X. et al. Observer-Based Adaptive Fuzzy Formation Control of Nonlinear Multi-Agent Systems with Nonstrict-Feedback Form . Int. J. Fuzzy Syst. 23, 680–691 (2021). https://doi.org/10.1007/s40815-020-01004-7

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  • DOI: https://doi.org/10.1007/s40815-020-01004-7

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