Collision-Free Formation of Fractional-Order Multi-Agent Systems: An Adaptive Predefined-Time Approach

This paper investigates the problem of collision-free fuzzy adaptive predefined-time formation control for nonlinear fractional-order multi-agent systems (MASs). A fuzzy logic system is utilized to approximate unknown internal dynamics, and a fuzzy state observer is designed to estimate the unmeasurable states of the system. Subsequently, a predefined-time stability criterion for fractional-order nonlinear systems is proposed, and a prescribed performance function is designed to ensure collision-free conditions between the followers and the leader. By employing the fractional-order dynamic surface control method, a collision-free fuzzy adaptive predefined-time output feedback formation controller is developed. It is proved by stability theory that the system has semi-global practical predefined-time stable (SGPPTS). Furthermore, the proposed method ensures collision- free between each follower and the leader. Simulation results demonstrate the effectiveness of the proposed approach.