Fuzzy Formation Control and Collision Avoidance for Multiagent Systems

Table 4

Formation errors: formation and separation control with dynamic leader.

	IAE	ISE	ITAE	ITSE
CA + PSC	8214.19	3156.40	223875.11	96814.34
CA + FSC	7477.28	2528.48	204209.46	75349.76
NFC + FSC	765.87	99.88	13552.16	700.71