Fuzzy Formation Control and Collision Avoidance for Multiagent Systems

Table 2

Fuzzy rule base.

Rule

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

𝑧^1𝑖

NB

NB

NB

NB

NB

NS

NS

NS

NS

NS

ZO

ZO

ZO

ZO

ZO

PS

PS

PS

PS

PS

PB

PB

PB

PB

PB

𝑧^2𝑖

VC

C

M

F

VF

VC

C

M

F

VF

VC

C

M

F

VF

VC

C

M

F

VF

VC

C

M

F

VF

𝜙^fuzzy𝑖

PS

PS

PS

ZO

ZO

PB

PB

PS

PS

PS

PB

PB

PB

PB

PB

PB

PB

PS

PS

PS

PS

PS

PS

ZO

ZO