Fuzzy cooperative formation control for nonlinear multiagent systems subject to communication delays

Haodong Zhou, Yi Zuo and Shaocheng Tong

International Journal of Systems Science, 2026, vol. 57, issue 2, 333-348

Abstract: This paper studies the fuzzy cooperative formation control problem of nonlinear multiagent systems (NMASs) subject to communication delays and jointly connected switching networks. Due to time delays in agent communication and network disconnections under the jointly connected condition, some followers fail to receive the leader's matrices and states or receive them with delays. To estimate the leader's matrices and states, we propose novel adaptive distributed observers that first estimate the leader's matrices and then use these estimates to generate an estimate of the leader's states. Subsequently, based on the adaptive distributed observers, a fuzzy cooperative formation controller is formulated by the backstepping control technique and fuzzy logic systems (FLSs). It is proven that the estimation errors of adaptive distributed observers converge to zero exponentially. Moreover, the proposed formation cooperative control method can guarantee that controlled NMAS is stable, and formation errors converge to a small neighbourhood around the origin. Finally, we apply the developed formation cooperative control method to marine surface vehicles (MSVs), the simulation and comparison results verify its effectiveness.

Date: 2026
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DOI: 10.1080/00207721.2025.2504047

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