In this paper, the consensus problem in linear multi-agent systems with uncertain topology is investigated. The uncertainty in the communication topology is represented by granular fuzzy numbers obtained from expert knowledge, and the required calculations are performed with multidimensional relative– distance–measurement interval arithmetic. The concept of granular fuzzy graph and fuzzy Gershgorin disc theorem is introduced. Then a fuzzy consensus protocol is proposed for the multi-agent system with fuzzy granular uncertain topology. A two-step algorithm is also proposed to build the consensus protocol. We also propose a theorem for calculating the final value of fuzzy consensus, which shows the final value of consensus as a fuzzy number. Simulation results show the efficiency of the suggested algorithm.
