Abstract
The paper investigates H ∞ consensus problem of heterogeneous multi-agent systems including agents with first- and second-order integrators in the presence of disturbance and communication time delays under Markov switching topologies. Based on current messages, outdated information stored in memory and communication time delay information from neighbors, a more general kind of distributed consensus algorithm is proposed, which is faster consensus convergence. By applying stochastic stability analysis, model transformation techniques and graph theory, sufficient conditions of mean square consensus and H ∞ consensus are obtained, respectively. Finally, simulation examples are given to illustrate the effectiveness of obtained theoretical results.
Highlights
In recent years, coordination control of multi-agent systems has become an interesting and attractive topic in control community
Consensus problems were taken into account for continuous- and discrete-time multi-agent systems in [2] and some useful graph lemmas were introduced
Continuous-time heterogeneous multi-agent systems were discussed under the fixed topology in [11], while we investigate consensus of discrete-time cases under directed Markovian switching topologies
Summary
Coordination control of multi-agent systems has become an interesting and attractive topic in control community. By applying Laplace transformation approaches, authors in [9] were concerned with consensus analysis of high-order multi-agent systems with different time delays. Authors in [12] dealt with H infinity consensus problem by applying periodic sampled data approach and graph theory under switching leader-follower topologies. Since there are some factors like packet dropouts or limited communication distance in practical systems, communication links between agents may be dynamically different, which leads to stochastic switching topologies If they satisfy the property of a Markov chain, it is worth studying consensus problems of multi-agent systems [21,22,23,24,25,26,27]. (3) Based on model transformation techniques and graph theory, mean square consensus is changed to be the problem of stochastic stability of closed-loop systems. Continuous-time heterogeneous multi-agent systems were discussed under the fixed topology in [11], while we investigate consensus of discrete-time cases under directed Markovian switching topologies
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