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In this paper, the fuzzy adaptive finite-time cooperative control with input saturation (FAFTCCIS) is designed to quickly accomplish the cooperation of nonlinear multiagent systems (MASs) without the risk of bumping among agents. At least one agent must communicate with the leader and the information of neighborhood agents is required to accomplish the assigned task. Each agent, including the leader and the followers, is first approximated by <inline-formula> <tex-math notation="LaTeX">$N$ </tex-math></inline-formula> fuzzy-based linear subsystems. To accomplish the null cooperation error in finite time, the proposed adaptive control possesses the switching surface with an integration of fraction order, a time-varying switching gain, and an on-line learning of the upper bound of the uncertainties in each fuzzy subsystem of agent <inline-formula> <tex-math notation="LaTeX">$j$ </tex-math></inline-formula>. The stability of all the cooperative uncertain systems is then verified by the Lyapunov stability theory. Finally, the application to the cooperative control of intelligent chef is presented to confirm the effectiveness, robustness and feasibility of the proposed FAFTCCIS.

Fuzzy Adaptive Finite-Time Cooperative Control With Input Saturation for Nonlinear Multiagent Systems and its Application