Adaptive fuzzy formation control for a class of uncertain nonlinear multi-agent systems

Here, an adaptive fuzzy control structure is proposed for the formation control problem of a class of uncertain affine nonlinear multi-agent systems. By introducing a position error and an appropriate artificial potential function, the formation control problem of the multi-agent system with fully unknown dynamics is solved. The agents should keep a desired distance from a time-varying reference as their virtual leader. The adaptive fuzzy controller for each agent includes terms of artificial potential function and H
_∞
robust concept. The fully unknown dynamics of each agent are approximated by fuzzy logic systems. Using Lyapunov stability theory, suitable adaptive laws are derived for the parameters of the fuzzy system, and the H
_∞
performance criteria of the overall structure is achieved. The proposed method is applied to the formation control of five cooperative inverted pendulum systems. Results show promising performance in presence of external sinusoidal disturbance and measurement noise.