This paper proposes a fuzzy logic-based robust control scheme for distributed multi-agent systems, where finite-time consensus is ensured in the presence of model uncertainties. Because each agent communicates only with its neighbors and model uncertainties are inherent, achieving consensus is challenging. A robust finite-time consensus controller based on graph theory is developed by using signum function in control input. However, the use of signum function inevitably induces input chattering, which may cause actuator faults. To mitigate this issue while improving control performance, fuzzy logic is employed to adaptively adjust the control gain of signum function. The effectiveness of the proposed method is validated through simulations.
Jeong et al. (Thu,) studied this question.