Abstract In this study, we consider the consensus problem for a high-order multi-agent systems (MASs) with an imprecise communication topology structure described by the Takagi–Sugeno fuzzy model. A distributed adaptive control protocol is proposed for the consensus problem comprising MASs with unknown parameters and input disturbances. The proposed protocol can guarantee that the consensus errors asymptotically approach zero under the conditions that the communication topology is fuzzy union connected and the dynamics of the leader are unknown to any agent among the followers. Furthermore, the proposed algorithm is extended to solve the formation control problem for MASs. Sufficient conditions are provided for the consensus and formation problems for MASs based on Lyapunov stability theory. Finally, three simulation examples are presented to illustrate the effectiveness of the proposed control protocol.

中文翻译：

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具有不精确通信拓扑结构的高阶多智能体系统的分布式模糊自适应共识

摘要 在这项研究中，我们考虑了由 Takagi-Sugeno 模糊模型描述的具有不精确通信拓扑结构的高阶多智能体系统 (MAS) 的共识问题。针对包含未知参数和输入干扰的 MAS 的共识问题，提出了一种分布式自适应控制协议。所提出的协议可以保证在通信拓扑是模糊联合连接的情况下，共识错误逐渐接近于零，并且领导者的动态对于跟随者中的任何代理都是未知的。此外，所提出的算法被扩展到解决MAS的编队控制问题。为基于李雅普诺夫稳定性理论的 MAS 的一致性和形成问题提供了充分条件。最后，