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

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 dela...

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Bibliographic Details
Published in:International journal of robust and nonlinear control 2023-01, Vol.33 (1), p.355-371
Main Authors: Guo, Haihua, Meng, Min, Feng, Gang
Format: Article
Language:English
Subjects:
Control systems design
Feedback control
heterogeneous multi‐agent systems
Markov processes
Markovian switching topologies
mean square leader‐following output consensus
Mean square values
Output feedback
Switching
time delays
Topology
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Summary: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.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.6456