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Published on: January 19, 2019
Observer-based quasi-bipartite consensus cloud control for multi-agent systems with stochastic communication
Chong Tan1, Shiliu Han2, Jun Hu3
1Department of Mathematics, Harbin University of Science and Technology, Harbin 150080, China; School of Automation, Harbin University of Science and Technology, Harbin 150080, Heilongjiang Province, China; National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, China.
None:
This paper addresses the bipartite consensus control problem for a class of discrete-time stochastic networked multi-agent systems (S-NMASs) under an observer-based cloud controller (CC) with multiplicative noise and bounded exogenous disturbances. Agents interact through both cooperative and antagonistic relationships. To mitigate network bandwidth limitations, a stochastic communication protocol (SCP) is applied from each agent's sensor to the CC and a dynamic event-triggered mechanism (DETM) is implemented from the CC to the actuator. A new concept of quasi-bipartite consensus (QBC) is introduced to evaluate the consensus of S-NMASs in a probabilistic sense. Based on switched Lyapunov functions and stochastic analysis, sufficient conditions are established for the S-NMASs to achieve QBC when the transition probabilities of the SCP are either fully known or partially unknown. Explicit expressions for CC gains and observer gains are obtained via linear matrix inequalities. The effectiveness of the developed theory and the advantages of the proposed methods (DETM, SCP) are validated through simulation examples.
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