Globally fuzzy leader-follower consensus of mixed-order nonlinear multi-agent systems with partially unknown direction control

Abstract

This paper investigates global fuzzy leader-follower consensus problem of mixed-order nonlinear multi-agent systems (MAS) with partially unknown direction control. The follower system is described by a first-order or second-order unknown nonlinear system model with partially unknown direction control and the leader system is described by a second-order time-varying nonlinear system model. Leader can share its position or velocity information with some followers. Due to the different distribution of agents in the network topology, a new hybrid distributed adaptive control protocol is presented in this study. Compared with the asymptotic consensus bounded result, this paper obtains the asymptotic consensus result. The global consensus result is obtained in the paper, which adopts the design method that the fuzzy logic systems (FLSs) acts as a feedforward compensator to approximate the unknown nonlinear dynamics. In the end, a simulation example is given to show the effectiveness of the proposed consensus control protocol.