Global Fuzzy Adaptive Consensus for Uncertain Nonlinear Multi-Agent Systems with Unknown Control Directions

This paper investigates the consensus problem for a class of uncertain nonlinear multi-agent systems (MASs) subject to external disturbances with unknown control directions (UCDs). A novel control scheme integrating Nussbaum-type gain is proposed to actively compensate for UCDs, while fuzzy logic systems (FLSs) are embedded in a feed-forward compensator to approximate unknown nonlinear dynamics, thereby achieving global stability. The proposed distributed control laws ensure global asymptotic convergence for both first- and second-order MASs through Lyapunov stability analysis. By implementing a strategic reparameterization technique, this scheme systematically reduces computational complexity, requiring each agent to adapt only a minimal parameter set. Moreover, the framework is extended to address complex formation control tasks. Comprehensive simulations validate the efficacy of the theoretical findings.