Consensus of Heterogeneous Multi-agent Systems with Markovian Jumping Parameters and Multiple Delays: Application to Mobile Stage Vehicles

This paper addresses the problem of the output consensus control protocol design for a class of heterogeneous multi-agent systems (MASs) with Markov stochastic parameters and multiple communication delays, where the transition probabilities (TPS) of parameter switchings are partially unknown and uncertain. By virtue of the stochastic system analysis method and Lyapunov stability theory, some sufficient criteria are proposed such that the output tracking error system is mean-square asymptotically stable and achieves a prescribed H∞ performance level. Then after several matrix manipulation techniques, some matrix inequalities are introduced to compute the controller gains. A simulation example on heterogenous mobile stage vehicles is presented to validate the main results.