Mean Square Consensus for Leader-Following Nonlinear Multi-Agent Systems under Markov Switching Topologies

Abstract

近年来，随着科学技术的迅速发展及应用的需要，多智能体系统的协调控制成为控制领域的一个研究热点。一致性问题作为多智能体系统协调控制的基础，受到了各个领域的研究学者越来越多的关注。本文针对非线性多智能体系统设计了相应的一致性控制算法，利用黎卡迪方程方法以及Markov的特性使非线性系统达到均方一致性，最后通过仿真验证了结果的正确性和有效性。 In recent years, with the rapid development of science and application, cooperative control of multi-agent systems has become a hot research in the field of control. As the basis of the coordina-tion problem for multi-agent systems, the consensus problem has attracted more and more atten-tions. Aimed at nonlinear multi-agent systems, control algorithm has been designed, using Riccati equation, and some criteria for achieving the mean square consensus via the properties of Markov theory. Finally, some simulation examples are provided to illustrate the effectiveness of the theo-retical results.