This paper investigates the dynamic event triggering formation control issue of nonlinear
multiagent systems (MASs) with asymmetric input saturation and unmeasured states. Based
on fuzzy logic systems approximation technique, a high-gain fuzzy observer is constructed to
estimate the unavailable states, where a leader-follower formation control strategy is
proposed to form a desired time-varying formation. Incorporating the network-induced error
and the relative threshold strategy, two new dynamic event triggering mechanisms and …