Abstract
SummaryThe consensus problem of second‐order nonlinear multiagent systems (MAS) with imprecise communication topology structure is addressed in this paper. Takagi‐Sugeno fuzzy models are presented to describe the leader‐following MAS with imprecise communication topology structure. By designing the distributed adaptive controller, an efficient framework is proposed for the consensus control of the MAS with both uncertain parameters and input disturbances. Under the conditions that the communication topology is fuzzy union connected and the dynamics of the leader agent is unknown to any agent of followers, the proposed protocol can guarantee that the consensus errors asymptotically approach zeros. Furthermore, the proposed algorithm is extended to solve the formation control problem. Sufficient conditions are given for the consensus and formation problems of the MAS based on the Lyapunov stability theory. Finally, a numerical example and multiple pendulum systems are given to illustrate the effectiveness of the proposed control protocols.
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