An IT2FNN-Based Sliding Mode Control Approach to Formation of Multi-Agent Systems with Switching Topology

This paper deals with the problem of robust formation control for multi-agent systems with switching topology by using a new fuzzy-neural-network based sliding mode control (SMC). A second-order nonlinear multi-agent system with uncertain velocity dynamics is formulated. In terms of the uncertain velocity dynamics term, we use an type-2 fuzzy-neural-network to obtain its estimate, then an integrated SMC law based on an newly designed integral sliding variable is proposed to the formation control multi-agent systems. Besides, the convergence analysis of the formation tracking error is provided. Moreover, the analysis of the finite-time reachability of a practical sliding mode is presented based on the Lyapunov function approach. Eventually, simulation results are given to show the validity of the proposed control approach.