Robust adaptive consensus of high-order nonlinear systems using fuzzy logical systems and continuous second-order sliding mode

Abstract

This paper considers the leader-following consensus problem of high-order nonlinear multi-agent systems in the presence of unknown dynamics and bounded disturbances under undirected communication topologies. A distributed consensus scheme is proposed by using fuzzy logical systems and second-order sliding mode. Fuzzy logical systems are utilized to approximate the unknown dynamics, while the fuzzy approximation errors and external disturbances are counteracted via continuous second-order sliding mode. The proposed controllers guarantee that the outputs of all followers can track that of the leader under the condition that only a subset of the followers can receive the information of the leader. Based on Lyapunov stability theory, it is proved that the global tracking errors converge to a small neighborhood of the origin. An example is provided to show the effectiveness of the proposed consensus scheme.