Leader-following consensus of multi-agent systems with randomly varying nonlinearities and stochastic disturbances under directed switching topologies

Abstract

This paper investigates leader-following consensus problem of multi-agent systems with randomly varying nonlinearities and stochastic disturbances under switching topologies. The randomly varying nonlinearities and stochastic disturbances are introduced to reflect more realistic dynamical behaviors that are caused by the noisy environment. The communication topology is molded by a directed graph will fall into two categories, i.e., one satisfies that contains a spanning tree whereas the other does not. Thus, the communication topology is time-varying. By using tools from M-matrix theory and multiple Lyapunov methods, some sufficient criteria are derived to achieve leader-following consensus. Finally, a numerical example is given to show the effectiveness of the proposed method.