Distributed Output-Feedback Bipartite Consensus for Stochastic Nonlinear Multiagent Systems Under Directed Switching Networks
Yafeng Li, Steven X. Ding, Changchun Hua, Guopin Liu
Abstract
This article investigates the distributed dynamic output-feedback bipartite consensus for a class of stochastic nonlinear multiagent systems (MASs) with time delays and actuators faults under directed switching graphs. First, a distributed extended state compensator is constructed for each agent to compensate for the consensus errors and actuators’ faults only using the output information of neighbors. Then, based on the compensator, a linear memoryless output-feedback controller is designed. Using a technical lemma and the stochastic Lyapunov stability theory, it is proved that combined with the given constraint conditions on graphs switching the 2nd-moment asymptotic bipartite consensus for the MASs can be achieved. Different from existing results, the proposed compensator can not only save the network bandwidth but also compensate for the actuators’ faults. The proposed scheme also significantly relaxes the conditions on the communication network to directed switching graphs and even allows the graph to be disconnected over some time intervals. The common design parameters under any graphs can avoid the detection of graph switching, which will need global topology information. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed method.