Abstract
AbstractThis article considers the mean square leader‐following output consensus problem of heterogeneous multi‐agent systems under randomly switching topologies and time‐varying communication delays. By modeling the switching topologies as a time‐homogeneous Markov process and taking the communication delays into consideration, a distributed observer is proposed to estimate the state of the leader. A novel distributed output feedback controller is then designed. By constructing a novel switching Lyapunov functional, an easily‐verifiable sufficient condition to achieve the mean square leader‐following output consensus is given. Finally, two simulation examples are presented to show the effectiveness of the proposed control scheme.
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