In collaboration with Payame Noor University and the Iranian Society of Instrumentation and Control Engineers

Document Type : Research Article


Department of Mathematics‎, ‎Faculty of Sciences‎, ‎University of Zanjan‎, P. O. Box 45371-38791, Zanjan, Iran



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.


Main Subjects

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