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

Table 3

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

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