Consensus Control of Second-Order Time-Delayed Multiagent Systems in Noisy Environments Using Absolute Velocity and Relative Position Measurements

Tracking Control of Heterogeneous Multiagent Systems With Intrinsic Nonlinear Dynamics in Noisy and Time-Delayed Environments

This article investigates the tracking control problem of heterogeneous multiagent systems (MASs) with intrinsic nonlinear dynamics in noisy and time-delayed environments. First, a stability criterion for nonlinear stochastic delay systems with multiplicative noise and time-varying delay is proposed by applying the appropriate Lyapunov-Krasovskii functional. Then, based on the proposed stability criterion, sufficient conditions are derived for mean square (m.s.) and almost sure (a.s.) tracking of heterogeneous MASs with intrinsic nonlinear dynamics. Afterward, the above sufficient conditions further degenerate to integrator heterogeneous MASs. In particular, when the time-delay vanishes, the explicit conditions are obtained for the integrator heterogeneous MASs in the form of scalar inequalities, which can intuitively reflect the relationship between noise intensity and control gains. Finally, simulation results validate the effectiveness of the proposed control protocol.

Relative States-Based Consensus for Sampled-Data Second-Order Multiagent Systems With Time-Varying Topology and Delays

In this article, the consensus problem of sampled-data second-order integrator multiagent systems with switching topology and time-varying delay is studied. And, a zero rendezvous speed is not required in the problem. Two new consensus protocols that employ no absolute states are proposed, depending on the presence of delay. Sufficient synchronization conditions are obtained for both protocols. It is shown that consensus can be reached, provided there is a sufficiently small gain and periodically joint connectivity in the sense of scrambling graph or spanning tree. Finally, both numerical and practical examples are supplied for illustrative purpose, and both show the effectiveness of the theoretical results.