Output consensus for heterogeneous multiagent systems with Markovian switching network topologies

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Original languageEnglish
Pages (from-to)1049-1061
Journal / PublicationInternational Journal of Robust and Nonlinear Control
Issue number3
Online published31 Aug 2017
Publication statusPublished - 1 Feb 2018


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.

Research Area(s)

  • heterogeneous multiagent systems, Markovian switching topologies, output consensus, regulator equations