Fuzzy Logic-Based Adaptive Target Fencing Tracking of Uncertain Networked Agent Systems

Networked multi-uncrewed aerial vehicle (UAV) systems form the foundation of aerial Internet of Things applications. However, the presence of noncooperative or misbehaving agents, such as rogue UAVs, poses significant operational and coordination challenges. With this in mind, this article investigates the dynamic fencing control problem for networked agent systems in the presence of compound constraints, including model uncertainties and actuator faults. To this end, we propose a fuzzy logic-based robust fencing control scheme. First, fuzzy logic systems are employed to accurately approximate the unknown dynamics of the target, enhancing adaptability and prediction accuracy. Second, a resilient control strategy is developed to accommodate potential actuator faults, thereby mitigating their impact and ensuring closed-loop stability and desired control performance. Furthermore, a dual-sided fencing mechanism is introduced using signed graphs, which enables agents from different subgroups to coordinate from opposite directions, thereby forming an efficient and symmetric enclosure around the target. Finally, simulation results are provided to demonstrate the effectiveness of the proposed fencing control scheme.