Fuzzy Formation Control for Nonlinear Multiagent Systems With Two Time Scales: A Reinforcement Learning Scheme

This article investigates the formation control problem for nonlinear multiagent systems (MASs) exhibiting two time scale (TTS) characteristics. Initially, a fuzzy model is introduced to capture the dynamics of the original nonlinear MASs. Subsequently, a full-order singularly perturbed system is developed to model the TTS phenomenon in the nonlinear MASs. Following this, the design of controllers to realize formation control of nonlinear MASs is converted into solving a set of discounted algebraic Riccati equations. To relax the restriction of system dynamic information, a novel off-policy integral reinforcement learning scheme is adopted to design the controllers online. Finally, a simulation example is provided to demonstrate the efficacy of the proposed algorithm.