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.

本文研究了方向控制部分未知的混合阶非线性多智能体系统（MAS）的全局模糊前导跟随共识问题。从动系统由具有部分未知方向控制的一阶或二阶未知非线性系统模型描述，而引导者系统由二阶时变非线性系统模型描述。领导者可以与一些关注者共享其位置或速度信息。由于代理在网络拓扑中的分布不同，本研究提出了一种新的混合分布式自适应控制协议。与渐近共识有界结果相比，本文得到了渐近共识结果。本文获得了全球共识结果，它采用了模糊逻辑系统（FLS）作为前馈补偿器的设计方法，以近似未知的非线性动力学。最后，给出了一个仿真例子来说明所提出的共识控制协议的有效性。