Consensus via Time-Varying Feedback for Uncertain Stochastic Nonlinear Multiagent Systems
针对一类非线性项存在严重未知和时变、且控制系数无已知界的不确定随机非线性多智能体系统，提出一种时变一致性方案，通过将时间函数融入协议来补偿未知与时变，实现了几乎必然的无领导者和领导者跟随一致性。
This paper focuses on the almost sure consensus via time-varying feedback for a class of uncertain stochastic nonlinear multiagent systems. A remarkable feature of the systems is that the nonlinearities allow serious unknowns and time-variations. Moreover, there exists no known bound for the unknown control coefficients. To handle the unknowns and time-variations, a time-varying consensus scheme is developed. The main idea of the scheme is to incorporate a delicate function of time into consensus protocols such that the unknowns and time-variations can be compensated as time increases. Based on the proposed protocols, the almost sure leaderless consensus and almost sure leader-following consensus are achieved. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.