Event-Based Predefined-Time Fuzzy Formation Control for Nonlinear Multi-Agent Systems with Unknown Disturbances

In this paper, for a class of uncertain nonlinear multi-agent systems (MASs) with external disturbances, it investigates adaptive state-based event-triggered predefined-time fuzzy formation control protocol. In order to decrease the hardware requirements of the systems and the interaction between agents, the protocol adopts the state-based event-triggered mechanism (ETC). Compared with most output-triggered mechanisms, the mechanism can reduce the computation and transmission load more effectively, and requires less information interaction. The fuzzy logic systems (FLSs) and distributed disturbance observer are used respectively to handle uncertain nonlinear functions and external disturbances in MASs. Furthermore, considering the convergence rate of the closed-loop system, a predefined-time tuning function is introduced to preset the system stabilization time. Considering the problem of decreasing the computational complexity, the dynamic surface control technique is introduced. The stability of the controlled system is analyzed by Lyapunov function theory. Finally, the feasibility and effectiveness of the control strategy are validated by the simulation.