Mean-square consensus of heterogeneous multi-agent systemsunder Markov switching topologies

Abstract

This paper concerns the mean-square consensus of a heterogeneous multi-agent system, which consists of first-and second-order agents, under Markovian switching topologies.Firstly, based on information from neighboring agents, control protocols are designed for the first-and second-order agents, respectively.Secondly, by using the properties of a stochastic irreducible aperiodic matrix, the sufficient and necessary conditions for the heterogeneous multi-agent systems to realize mean-square consensus are obtained.Finally, numerical simulations are conducted to illustrate the effectiveness of the theoretical results.