Output consensus for heterogeneous multiagent systems with Markovian switching network topologies

This paper investigates the output consensus problem of heterogeneous continuous-time multiagent systems under randomly switching communication topologies. The switching mechanism is governed by a time-homogeneous Markov process, whose states correspond to all possible communication topologies among agents. A novel dynamic consensus controller is proposed. The controller gains are designed based on the information of the expectation graph and the solutions to regulator equations. Furthermore, a necessary and sufficient condition is presented for output consensus of the controlled multiagent system in mean square sense. Finally, a simulation example is provided to corroborate the effectiveness of the proposed controller.