State-Observer-Based Adaptive Fuzzy Event-Triggered Formation Control for Nonlinear Multiagent System

This study examined the problemof event-triggered formation control for nonlinear multiagent systems (MASs) with unmeasured states. First, by applying fuzzy logic systems (FLSs), the identification of unknown nonlinearities could be achieved. To save communication resources, we introduce an event-triggered mechanism. And use the triggered output signal to construct the fuzzy state observer. Then, a formation control algorithm based on event-triggered is proposed through dynamic surface control (DSC) technology and adaptive backstepping control technology, combined with two new event-triggered conditions. Finally, using the Lyapunov theory, it can be shown that all closed-loop signals are bounded. The validity of the proposed scheme can be demonstrated through simulation verification.