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Yang et al. Intell Robot 2022;2(3):22343 Intelligence & Robotics
DOI: 10.20517/ir.2022.19
Research Article Open Access
H leader-following consensus of multi-agent systems
∞
with channel fading under switching topologies: a semi-
Markov kernel approach
1
1
1
Haoyue Yang , Hao Zhang , Zhuping Wang , Xuemei Zhou 2
1 College of Electronic and Information Engineering, Tongji University, Shanghai 201804, China.
2 College of Transportation Engineering, Tongji University, Shanghai 201804, China.
Correspondence to: Pro. Hao Zhao, College of Electronic and Information Engineering, Tongji University, 4800, Cao’an Road,
Shanghai 201804, China. E-mail: zhang hao@tongji.edu.cn
How to cite this article: Yang H, Zhang H, Wang Z, Zhou X. H ∞ leader-following consensus of multi-agent systems with channel fad-
ing under switching topologies: a semi-Markov kernel approach. Intell Robot 2022;2(3):xx. http://dx.doi.org/10.20517/ir.2022.19
Received: 6 Jun 2022 First Decision: 19 Jul 2022 Revised: 31 Jul 2022 Accepted: 10 Aug 2022 Published: 20 Aug 2022
Academic Editor: Nallappan Gunasekaran Copy Editor: Jia-Xin Zhang Production Editor: Jia-Xin Zhang
Abstract
This paper focuses on the leader-following consensus problem of discrete-time multi-agent systems subject to chan-
nel fading under switching topologies. First, a topology switching-based channel fading model is established to de-
scribe the information fading of the communication channel among agents, which also considers the channel fading
from leader to follower and from follower to follower. It is more general than models in the existing literature that
only consider follower-to-follower fading. For discrete multi-agent systems, the existing literature usually adopts
time series or Markov process to characterize topology switching while ignoring the more general semi-Markov pro-
cess. Based on the advantages and properties of semi-Markov processes, discrete semi-Markov jump processes are
adopted to model network topology switching. Then, the semi-Markov kernel approach for handling discrete semi-
Markov jumping systems is exploited and some novel sufficient conditions to ensure the leader-following mean square
consensus of closed-loop systems are derived. Furthermore, the distributed consensus protocol is proposed by means
of the stochastic Lyapunov stability theory so that the underlying systems can achieve H ∞ consensus performance
index. In addition, the proposed method is extended to the scenario where the semi-Markov kernel of semi-Markov
switching topologies is not completely accessible. Finally, a simulation example is given to verify the results proposed
in this paper. Compared with the existing literature, the method in this paper is more effective and general.
Keywords: H ∞ leader-following consensus, multi-agent systems, channel fading, semi-Markov switching topologies,
semi-Markov kernel.
© The Author(s) 2022. Open Access This article is licensed under a Creative Commons Attribution 4.0
International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, shar
ing, adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as long as you
give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate
if changes were made.
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