In this paper, the finite-time adaptive fuzzy control method is proposed for nonlinear nonstrict-feedback multi-agent systems (MASs) with unknown control directions. The Nussbaum function is introduced to compensate the influence of unknown control directions. By combining the finite-time stability criterion, an adaptive fuzzy controller is constructed to ensure that systems reach a steady state in a finite time, and the tracking errors of all output signals converge to a small neighbourhood of the origin. By using the Lyapunov finite-time stability theorem, all signals are proved to be semi-global practically finite-time stable. Finally, the effectiveness of the proposed control method is proved through some results of simulation experiments.

本文针对控制方向未知的非线性非严格反馈多智能体系统（MAS）提出了有限时间自适应模糊控制方法。引入 Nussbaum 函数来补偿未知控制方向的影响。结合有限时间稳定性判据，构建自适应模糊控制器，保证系统在有限时间内达到稳态，所有输出信号的跟踪误差收敛到原点的小邻域。通过使用李雅普诺夫有限时间稳定性定理，所有信号都被证明是半全局的，实际上是有限时间稳定的。最后通过一些仿真实验结果证明了所提控制方法的有效性。