Adaptive Fuzzy Formation Control for Nonlinear Multiagent Systems: Dynamic Obstacle Avoidance Mechanism Against...

This article explores a dynamic obstacle avoidance problem within an adaptive fuzzy formation control scheme for nonlinear multiagent systems (MASs) under malicious network attacks. The stable operation and effective obstacle avoidance rely on correct communication transmission between agents. However, malicious network attacks may tamper with the transmission signal, leading to the failure of formation tasks. This problem is first addressed through an adaptive fuzzy design for communication connection maintenance and obstacle avoidance using nonlinear error functions and auxiliary signals. Then, a fuzzy state observer is constructed to estimate the unknown states under attacks. Furthermore, with the help of the proposed novel coordinate transformation, a fuzzy formation control scheme is presented with an attack compensation mechanism so that different formation tasks can be achieved even if the systems are subject to network attacks. Under the control scheme, the formation tracking error is uniformly ultimately bounded and the static or dynamic obstacle avoidance is guaranteed. The effectiveness of the suggested control strategy is validated through simulation examples.