Fuzzy Predefined-Time Control for Multi-Agent Formation System with Unidentified Leader

In this paper, a fuzzy predefined-time adaptive control is studied for the multi-agent formation system with unidentified leader. At first, regarding the issue of uncertain states caused by unknown input from the leader, a formation control problem is proposed with communication interruption. Afterwards, to solve this problem, a practical predefined-time observer is designed to estimate the leader's position as the reference signal. Furthermore, by using the fuzzy logic systems and the finite-time differentiator, an adaptive approach is presented for the formation system to realize predefined-time control. Then, practical predefined-time stability of all signals within formation system is guaranteed. Meanwhile, the estimate of the reference signal is accurately tracked by the followers within the predefined time. The effectiveness and superiority of the proposed solution are demonstrated through simulation results.