Leader-following consensus problem of heterogeneous multi-agent systems with nonlinear dynamics using fuzzy disturbance observer

This article considers the leader-following consensus problem of heterogeneous multi-agent systems. The proposed multi-agent system is consisted of heterogeneous agents where each agents have their own nonlinear dynamic behavior. To overcome difficulty from heterogeneous nonlinear intrinsic dynamics of agents, a fuzzy disturbance observer is adopted. In addition, based on the Lyapunov stability theory, an adaptive control method is used to compensate the observation error caused by the difference between the unknown factor and estimated values. Two numerical examples are given to illustrate the effectiveness of the proposed method.