Consensus Problem Over High-Order Multiagent Systems With Uncertain Nonlinearities Under Deterministic and Stochastic Topologies
研究高阶非线性多智能体系统在模型不确定和随机链路故障下的无领导者一致性问题，提出一种对不确定非线性具有鲁棒性的协议，并证明在满足网络连通概率非零等条件下可保证几乎必然一致性。
The leaderless consensus problem over a class of high-order nonlinear multiagent systems (MASs) is studied. A robust protocol is proposed which guarantees achieving consensus in the network in the presences of uncertainties in agents models. Achieving consensus in the case of stochastic links failure is studied as well. Based on the concept super-martingales, it is shown that if the probability of the network connectivity is not zero, under some conditions, achieving almost sure consensus in the network can be guaranteed. Despite existing consensus protocols for high-order stochastic networks, the proposed consensus protocol in this paper is robust to uncertain nonlinearities in the agents models, and it can be designed independent of knowledge on the set of feasible topologies (topologies with nonzero probabilities). Numerical examples for a team of single-link flexible joint manipulators with fourth-order models verify the accuracy of the proposed strategy for consensus control of high-order MASs with uncertain nonlinearities.