Impulsive Formation Tracking of Nonlinear Fuzzy Multi-Agent Systems with Input Saturation Constraints

This study investigates leader-following formation problems for second-order fuzzy multi-agent systems (MASs) with input saturation constraints, by using an impulsive control strategy. Traditional communication methods generate large amounts of unnecessary information, resulting in a waste of resources. Thus, fuzzy logic systems are established to estimate unknown non-linear functions. Subsequently, impulsive formation control strategies are proposed to reduce the costs of continuous communication, in which followers only communicate with the leader at a fixed impulsive time. In addition, considering the limited nature of the actual physical actuator, input saturation-constraints are introduced to control the formation of MASs. The conclusions are extended to the case in which the interaction topology switches with time. Finally, two simulation examples are provided to validate the derived results and the feasibility of the proposed control protocol.