Leader-Follower Multimotor Speed Coordination via Adaptive Fuzzy Multiagent Consensus Scheme

Table 2

If-then rule of fuzzy controller for “KR.”

	BN	SN	ZR	SP	BP
Error ↓
BN	ZR	ZR	SP	BP	BP
SN	ZR	SP	SP	SP	BP
ZR	ZR	SP	SP	SP	BP
SP	ZR	SP	SP	SP	BP
BP	ZR	ZR	SP	SP	BP