This paper deals with the finite-time consensus control problem for a class of nonlinear strict-feedback multi-agent systems with heterogeneous dynamics. Due to the existence of unknown nonlinear dynamics of the system, this paper adopts the excellent approximation ability of fuzzy logic systems to design the consensus control protocol. Moreover, fuzzy logic systems and adaptive method are used to approximate the unknown system dynamics in the design of virtual controllers for different orders of the subsystems. The proposed direct adaptive fuzzy tracking controller for every agent is constructed via a backstepping design process. The proposed adaptive fuzzy controller can ensure that the outputs of all agents can track a common desired trajectory in finite time. Finally, the performance of the proposed fuzzy adaptive consensus control algorithm is demonstrated by two numerical studies of MASs including both homogeneous and heterogeneous dynamics of the interacting agents.

中文翻译：

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异构非线性多Agent系统的有限时间模糊自适应共识

针对一类具有异构动力学的非线性严格反馈多智能体系统，研究了有限时间一致控制问题。由于系统存在未知的非线性动力学特性，本文采用模糊逻辑系统的出色逼近能力来设计共识控制协议。此外，在子系统的不同阶次的虚拟控制器设计中，模糊逻辑系统和自适应方法被用于近似未知系统的动力学。提出的针对每个主体的直接自适应模糊跟踪控制器是通过backstepping设计过程构建的。所提出的自适应模糊控制器可以确保所有代理的输出可以在有限的时间内跟踪共同的期望轨迹。最后，