Distributed fuzzy adaptive consensus for high-order multi-agent systems with an imprecise communication topology structure

Abstract

In this study, we consider the consensus problem for a high-order multi-agent systems (MASs) with an imprecise communication topology structure described by the Takagi–Sugeno fuzzy model. A distributed adaptive control protocol is proposed for the consensus problem comprising MASs with unknown parameters and input disturbances. The proposed protocol can guarantee that the consensus errors asymptotically approach zero under the conditions that the communication topology is fuzzy union connected and the dynamics of the leader are unknown to any agent among the followers. Furthermore, the proposed algorithm is extended to solve the formation control problem for MASs. Sufficient conditions are provided for the consensus and formation problems for MASs based on Lyapunov stability theory. Finally, three simulation examples are presented to illustrate the effectiveness of the proposed control protocol.