Fuzzy-based dynamic event triggering formation control for nonstrict-feedback nonlinear MASs.

This paper investigates the dynamic event triggering formation control issue of nonlinear multiagent systems (MASs) with asymmetric input saturation and unmeasured states. Based on fuzzy logic systems approximation technique, a high-gain fuzzy observer is constructed to estimate the unavailable states, where a leader-follower formation control strategy is proposed to form a desired time-varying formation. Incorporating the network-induced error and the relative threshold strategy, two new dynamic event triggering mechanisms and dynamic rules of threshold parameters are established, which reduce the amount of communication between controller and actuator. Moreover, to counteract the adverse effect of asymmetric input saturation, a modified auxiliary system containing the information interaction is developed with the same order as the plant. It is ensured that all closed-loop signals are semi-globally uniformly ultimately bounded. Finally, simulation results are presented to illustrate the effectiveness of the proposed event triggering fuzzy control scheme.