Mean square leader‐following consensus of heterogeneous multi‐agent systems with Markovian switching topologies and communication delays

Abstract

This article considers the mean square leader-following output consensus problem of heterogeneous multi-agent systems under randomly switching topologies and time-varying communication delays. By modeling the switching topologies as a time-homogeneous Markov process and taking the communication delays into consideration, a distributed observer is proposed to estimate the state of the leader. A novel distributed output feedback controller is then designed. By constructing a novel switching Lyapunov functional, an easily-verifiable sufficient condition to achieve the mean square leader-following output consensus is given. Finally, two simulation examples are presented to show the effectiveness of the proposed control scheme. K E Y W O R D Sheterogeneous multi-agent systems, Markovian switching topologies, mean square leader-following output consensus, time delays

Stochastic Distributed Tracking of Heterogeneous Multi-Agent Systems with Markovian Switching Topologies and Infinite Delays

“…The Markovian switching topologies are commonly used to model these changing graphs. During the past years, many researchers have studied MASs over Markovian switching topologies and some fundamental results have been presented on first-order/second-order MASs [16,17], general linear MASs [18,19], and heterogeneous linear MASs [20][21][22][23][24]. For example, by using the eigenvalue analysis method and graph theory, the consentability problem of second-order MASs under Markovian switching topologies has been considered in [16], where the authors show that the MAS can achieve mean square consensus if and only if the union graph has a spanning tree.…”

Robust consensus of unknown heterogeneous non‐minimum phase multi‐agent systems with unmodeled dynamics and disturbances

“…Many significant results on the topic have been reported for homogeneous MASs with first-order or second-order agent dynamics, [9][10][11][12] or general linear agent dynamics, [13][14][15] and for heterogeneous MASs with general linear agent dynamics. [16][17][18] The leader-following consensus problem for MASs has been well addressed under the framework of cooperative output regulation, see References 19-21 and the references therein. In References 19,20,under the assumption that each follower knows the system matrix of the leader, the leader-following consensus problem is solved by the so-called distributed observer approach.…”

“…Among various cooperative control problems of MASs, the consensus problem, which can be classified as the leader‐following consensus problem and the leaderless consensus problem, has been widely investigated. Many significant results on the topic have been reported for homogeneous MASs with first‐order or second‐order agent dynamics, 9‐12 or general linear agent dynamics, 13‐15 and for heterogeneous MASs with general linear agent dynamics 16‐18 …”

“…In comparison to those relevant existing works on the consensus problem of MASs, the main contributions of this paper are summarized as follows: Compared with References 13‐22 where the parameters of agent dynamics are assumed to be known a priori , this work allows the parameters of agent dynamics to be unknown. In fact, the parameters of agent dynamics are allowed to be slowly time‐varying 29,37,38 …”

Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time

“…One of the fascinating topics is leader-following consensus [2], also known as model reference consensus [3], where a group of agents need to achieve consensus with the leader agents. It has been studied widely, for linear MASs [2] [4], nonlinear MASs [5], homogeneous or heterogeneous agents [6] under different scenarios.…”