Fuzzy modelling and consensus of nonlinear multiagent systems with variable structure

The consensus problem of multiagent nonlinear systems (MANNs) with variable structure is discussed in this paper. T-S fuzzy models are first presented to describe MANNs with variable structure. The nodes of each T-S fuzzy model are rearranged so that the global fuzzy model is decomposed into independent and small-scale fuzzy models. It is shown that the consensus of the global fuzzy model is equivalent to that of its corresponding small-scale fuzzy models in which the continuous and sampled controllers are applied. Sufficient conditions are derived to ensure the consensus of the controlled fuzzy models. Finally, simulation results are given to illustrate the effectiveness of the proposed criteria.