In　this　paper,　we　study　the　adaptive　fuzzy　formation　control　of　multiple　autonomous　agents　with　prioritized　missions.　For　a　platoon　of　autonomous　agents　in　an　unknown　environment　containing　multiple　obstacles,　formation　control　is　investigated,　where　each　agent　is　modeled　by　a　second-order　nonlinear　system　under　unknown　external　disturbance　in　the　Brunovsky　form.　We　introduce　the　systematic　procedure　of　null-space-based　projection　to　convert　the　prioritized　multimission　control　problem　into　a　behavioral　control　problem.　Then,　we　further　develop　a　class　of　nonlinear-fast-terminal-sliding-mode-based　adaptive　control　strategies　that　combine　the　fuzzy　logic　systems　by　jointly　considering　both　kinematic　and　dynamic　levels　of　the　agents.　The　proposed　controllers　can　guarantee　each　individual　agent　to　achieve　the　predesigned　desired　pattern　and　drive　the　entire　systems　to　achieve　the　prescribed　missions.　A　simulation　example　with　five　agents　demonstrates　the　effectiveness　of　the　algorithm.　Finally,　the　strategies　are　experimentally　validated　using　a　platoon　of　Pioneer　3AT　and　3DX　mobile　robots.