Cluster consensus of nonlinear multi-agent systems with Markovian switching topologies and communication noises

Abstract

This paper focuses on the mean square cluster consensus of nonlinear multi-agent systems with Markovian switching topologies and communication noise via pinning control technique. Network topology can take weaker conditions in each cluster but an extra balanced condition is also needed. A time-varying control gain will be introduced to eliminate the effect of stochastic noise. For the case of fixed topology, if the induced digraph of each cluster has a directed spanning tree, the sufficient conditions for the mean square cluster consensus can be obtained. For the case of Markovian switching topologies, if the induced digraph of union of the Laplacian matrix of each mode has a directed spanning tree, the mean square cluster consensus conclusion can be derived. Particularly, if the elements of transition probability of Markov chain are partly unknown, we can also obtain the same conclusion under the same conditions. Finally, two examples are given to illustrate our results.