Adaptive fuzzy formation control for heterogeneous multi-agent systems using time-varying IBLFs

In this article, the adaptive fuzzy formation control technique is addressed for heterogeneous multi-agent systems (HMASs) under time-varying full state constraints(TVFSCs). The time-varying integral barrier Lyapunov functions (TVIBLFs) are used to design adaptive controllers for HMASs for the first time. The introduction of TVIBLFs not only ensures that all states keep in the TVFSC sets, but also relaxes the feasibility conditions and deals with the coupling terms in local formation tracking errors. Meanwhile, the uncertain items are estimated by the fuzzy logic systems. Moreover, the presented control method guarantees that agents will form the desired time-varying formations in fixed time, and the convergence time remains uncorrelated with any original parameters. Finally, the availability of the control technique is proofed through simulations.