Fuzzy Formation Control and Collision Avoidance for Multiagent Systems

Table 3

Formation errors: formation and separation control with static leader.

	IAE	ISE	ITAE	ITSE
CA + PSC	5887.77	1580.74	114492.31	23911.31
CA + FSC	1746.77	304.78	20183.14	1249.37
NFC + FSC	382.47	90.12	967.88	103.77