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<p>This paper proposes a periodic event-triggered formation (PETF) protocol based on adaptive fuzzy control for nonlinear multi-agent systems (NMASs) under directed topology. By introducing second-order auxiliary dynamics, the formation problem is transformed into a stabilization problem for the constructed error system. Fuzzy logic systems (FLSs) are employed to handle uncertain nonlinear functions. To reduce the usage of communication resources (UCRs), an adaptive fuzzy PETF strategy is developed, in which the event-triggering mechanism (ETM) is monitored only at sampling instants. Moreover, the upper bound of the sampling period is explicitly derived. It is proven that the formation errors converge to a small neighborhood of the origin. Finally, a practical example is provided to verify the effectiveness of the proposed scheme.</p>

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Predictor-Based Uncertain Multi-agent System Formation Control with Adaptive Fuzzy Periodic Event-Triggered

  • 期刊论文

  • 发表日期：

    2026年5月28日

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  • Jie Bao,
  • Ronghao Zhang,
  • Shaoyu Hu,
  • Mandie Ou,
  • Yuping Zhang

摘要

This paper proposes a periodic event-triggered formation (PETF) protocol based on adaptive fuzzy control for nonlinear multi-agent systems (NMASs) under directed topology. By introducing second-order auxiliary dynamics, the formation problem is transformed into a stabilization problem for the constructed error system. Fuzzy logic systems (FLSs) are employed to handle uncertain nonlinear functions. To reduce the usage of communication resources (UCRs), an adaptive fuzzy PETF strategy is developed, in which the event-triggering mechanism (ETM) is monitored only at sampling instants. Moreover, the upper bound of the sampling period is explicitly derived. It is proven that the formation errors converge to a small neighborhood of the origin. Finally, a practical example is provided to verify the effectiveness of the proposed scheme.