Tracking Control of Heterogeneous Multiagent Systems With Intrinsic Nonlinear Dynamics in Noisy and Time-Delayed Environments
研究了噪声和时延环境下异构多智能体系统的跟踪控制问题，提出了稳定性判据和跟踪的充分条件，并通过仿真验证了控制协议的有效性。
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.