Distributed fuzzy consensus control of second-order nonlinear systems with application to ship heading-keeping control

This note considers the distributed fuzzy consensus control of a kind of uncertain second-order nonlinear multiagent systems (MASs). By combining the fuzzy approximation approach with variable separation method, an adaptive distributed control scheme is proposed according to the relative local state message. The proposed adaptive distributed fuzzy protocol guarantees that the closed system is uniformly ultimte bounded, and consensus error can be constructed arbitrarily small. The effectiveness of this protocol is verified by applying it to the problem of ship heading-keeping control problem.