Fuzzy Secure Formation Control for NMASs: A Prescribed Performance Scaling Framework

This article presents a prescribed performance scaling framework for uncertain nonlinear multiagent systems with unmeasurable states, addressing the secure formation fault-tolerant control problem considering collision avoidance and connectivity maintenance. A novel fuzzy preset-time observer is proposed, which achieves the earliest preset-time convergence of observation errors with the aid of a scalar function while it solves the problem of state unmeasurability and unknown nonlinear dynamics. A finite-time prescribed performance function based on norm inequality scaling is introduced to transform and constrain the graph theory-based formation errors into collision avoidance and connectivity maintenance guaranteed indicators and observation-based sliding-mode variables. Then, an adaptive estimation technique is employed to estimate the fault parameters to achieve fault-tolerant control. Finally, a series of simulation experiments are conducted to certify the feasibility and superiority of the proposed control scheme.