Leader-Follower Formation Control of Second-Order Multiagent System Based on Fuzzy Logic System

The leader-follower formation control problem for a second-order multiagent system is investigated in this paper. To investigate this problem, two communication topologies are defined, which are position communication topology and velocity communication topology. Fuzzy logic system is introduced into the control protocol to determine the weights of the edges in topologies based on the position errors and velocity errors between agents. The time-varying topologies and the control protocol proposed in this paper ensure that the followers can successfully keep pace with the virtual leader while maintaining the formation. The stability is analyzed by using a Lyapunov function method. Finally, numerical simulation examples are given to illustrate the feasibility of the control protocol.