Consensus Of Stochastic Multi-agent Systems Based On ADT Switching Topology

In recent years,the consensus of multi-agent systems has been widely used in smart grid dispatching,satellite formation control and other fields.In some practical applications,the communication topology of a multi-agent system is constantly changing,and stochastic noise is often unavoidable.These two factors have a great impact on the performance of multi-agent systems and may lead to the failure of the whole system to achieve consensus.Based on the average dwell-time(ADT),this thesis studies the consensus of several different types of stochastic multi-agent systems and obtains some results.The main work is summarized as follows:(1)The problem of H_-?consensus of a class of discrete-time stochastic multi-agent systems is studied.The purpose of this thesis is to design a static output-feedback control protocol such that the system achieves mean-square consensus and satisfies a predetermined weighted H_-? disturbance attenuation index.Firstly,by introducing a linear transformation,the closed-loop system is transformed into a reduced-order system and the problem of H_-? consensus is transformed into a H_-?control problem.Then criteria for the mean-square asymptotic stability and weighted H_-? performance of the reduced-order system are given.Based on these results,a design method of the static output-feedback control protocol is proposed.The expected control gain matrix can be obtained by the feasible solutions of linear matrix inequalities(LMIs).Finally,a numerical example is given to verify the validity of the obtained results.(2)The problem of H_-? consensus of a class of nonlinear stochastic multi-agent systems is studied.The purpose of this thesis is to design a dynamic output-feedback control protocol such that the system achieves mean-square consensus and satisfies a predetermined weighted H_-? disturbance attenuation index.By applying model transformation to the system,the problem H_-? consensus is transformed into a H_-? control problem of reduced-order system.Then criteria for the mean-square asymptotic stability and weighted H_-? performance of the reduced-order system is given by using Lyapunov method and the technique of dealing with nonlinear.Based on these results,a design method of the dynamic output feedback control protocol is proposed.The expected control gain matrix can be obtained by some feasible solutions of linear matrix inequalities.Finally,a numerical example is given to verify the validity of the obtained results.(3)The problem of -L_-2-L_-? consensus of a class of stochastic multi-agent systems with time-delay is studied.The purpose of this thesis is to design a observer-based control protocol such that the system achieves mean-square consensus and satisfies a predetermined weighted -L_-2-L_-? disturbance attenuation index.Firstly,by introducing a linear transformation,the problem -L_-2-L_-? consensus is transformed into the -L_-2-L_-? control problem of reduced-order time-delay systems.Then,using Lyapunov-Krasovskii functional method and some stochastic analysis techniques,the criteria for determining mean-square asymptotic stability and weighted performance of the reduced-order time-delay systems are given.Based on these results,a design method of observer-based control protocol is proposed.The expected control gain matrix can be obtained by some feasible solutions of linear matrix inequalities.Finally,a numerical example is given to verify the validity of the obtained result.