Mean-square tracking consensus of heterogeneous multi-agent systems with additive noise and time delay

Abstract

This paper discusses the mean-square tracking consensus of heterogeneous multi-agent systems with additive noise and time delay both over fixed and switching topologies. To weaken the noises, consensus gain is introduced into the control protocol. By using graph theory, stochastic analysis, matrix theory and velocity decomposition approach, sufficient conditions as well as the upper bound of time delay for the mean-square tracking consensus are obtained. Several simulations are given to verify the potential correctness of the results.

Keywords:

• Mean-square tracking consensus
• heterogeneous multi-agent systems
• additive noise
• time delay

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work is supported by the National Natural Science Foundation of China [grant numbers 61673080 and 61773082], the Natural Science Funds of Chongqing CSTC [grant number cstc2019jcyj-msxmX0102], the Science and Technology Research Program of Chongqing Municipal Education Commission [grant number KJZD-K202000601], the Venture & Innovation Support Program for Chongqing Overseas Returnees [grant number cx2017099], and the RF Governmental [grant number 075-15-2019-1885].