Adaptive fuzzy fixed time formation control of state constrained nonlinear multi-agent systems against FDI attacks.

In this manuscript, based on nonlinear multi-agent systems (MASs) with full state constraints and considering security control problem under false data injection (FDI) attacks, the fixed-time formation control (FTFC) protocol was designed, which can ensure that all agents follow the required protocol within a fixed time. Fuzzy logic system (FLS) was used to compensate and approximate the uncertain function, which improved safety and robustness of the formation process. Finally, the fixed-time theory and Lyapunov stability theory were addressed to prove the effectiveness of the proposed method, and simulation examples verified the effectiveness of the theory.