Dissipativity-Based Consensus Tracking of Singular Multiagent Systems With Switching Topologies and Communication...

Area of Science:

• Control Theory
• Systems Engineering
• Networked Systems

Background:

• Consensus tracking is crucial for coordinating multiagent systems (MASs).
• Existing methods often struggle with nonlinear, singular systems, switching topologies, and communication delays.
• Dissipativity theory offers a robust framework for analyzing system stability and performance.

Purpose of the Study:

• To develop a consensus tracking controller for Lipschitz nonlinear singular MASs.
• To account for switching topologies governed by a Markov chain.
• To address time-varying communication delays dependent on Markovian jump modes.

Main Methods:

• Application of dissipativity theory, specifically strict (Q,S,R)-α-dissipativity analysis.
• Utilizing stochastic Lyapunov functional techniques for stability analysis.
• Employing algebraic graph theory to model system interactions and topology switching.

Main Results:

• A consensus controller was designed to manage delayed in-neighboring agent information.
• The controller ensures stochastic admissibility and strict dissipativity of the consensus error system.
• Theoretical findings were validated through numerical simulations.

Conclusions:

• The proposed method effectively achieves consensus tracking for complex MASs.
• The framework successfully integrates dissipativity theory with stochastic analysis for systems under Markovian switching and delays.
• The results demonstrate the controller's ability to ensure system stability and performance.