DISTRIBUTED CONSENSUS OF CONTINUOUS-TIME MULTI-AGENT SYSTEMS WITH MARKOVIAN SWITCHING TOPOLOGIES AND STOCHASTIC COMMUNICATION NOISES
Zhang Qiang, Ji‐Feng Zhang · Xitong kexue yu shuxue · 2011
Distributed consensus of continuous-time multi-agent systems(MASs) in uncertain communication environments is investigated.The communication channel between each pair of adjacent agents is subjected to Guassian disturbances.The random switches between different communication topologies are described by Markov processes.We design a distributed consensus protocol to attenuate the communication noises and Markov topology switches.Under mild conditions,both the asymptotic unbiased mean square average-consensus and asymptotic unbiased almost sure average-consensus are established by use of Markovian switching stochastic differential equation theory,algebriac graph theory,continuous martingale theory and Markov chain theory.The effect of agent-dependent gain functions on the consensus of MASs is also analyzed.