Fuzzy Finite-time Consensus Control for Nonlinear Second-order Multi-agent Systems with Disturbances by Integral Sliding Mode

In this research study, the fuzzy consensus control for nonlinear multi-agent system (MAS) with second order dynamics and in finite time by considering imposed bounded disturbances is investigated. According to the continuous homogeneous consensus control technique in finite time for the nominal nonlinear MAS, integral sliding mode (ISM) control with discontinuous feature in company with fuzzy approach is presented to obtain precise free chattering consensus in finite time regard to the external disturbances. Despite most of the similar works, nonlinear dynamics for agents is considered in this paper. In addition, because of control input structure in discontinuous ISM protocol, there is inevitable chattering in control input which is eliminated by fuzzy controller. Finally, numerical simulations has been illustrated to verify efficiency of the suggested strategy.