Text this: A novel fuzzy logic control method for multi-agent systems with actuator faults

  _  __   _    _    __   _    _    _     ____    
 | |/ // | || | || | || | || | || | ||  |  _ \\  
 | ' //  | || | || | '--' || | || | ||  | |_| || 
 | . \\  | \\_/ || | .--. || | \\_/ ||  | .  //  
 |_|\_\\  \____//  |_|| |_||  \____//   |_|\_\\  
 `-` --`   `---`   `-`  `-`    `---`    `-` --`