A Fuzzy Sliding Mode Control for Nonlinear Leader-Follower Multi-Agent Systems

In this paper‎, ‎we present a new approach for achieving leader-follower consensus in a network of nonlinear dynamic agents with an undirected graph topology‎, ‎using a fuzzy sliding mode controller (FSMC) for Multi-Agent Systems (MASs)‎. ‎Our proposed sliding mode controller is based on a separating hyperplane that effectively addresses the consensus problem in MASs‎. ‎Additionally‎, ‎we design a fuzzy controller to eliminate the chattering phenomenon‎. ‎According to the communication graph topology and the Lyapunov stability condition‎, ‎the proposed FSMC satisfies the consensus condition‎. ‎One significant advantage of our approach is that the system states converge to the sliding surface quickly and remain on the surface‎, ‎thereby ensuring better tracking performance‎. ‎We validate the effectiveness of our proposed approach through simulation results‎.