Consensus Control of Nonlinear Stochastic Multiagent Systems With Unknown and Time-Varying Control Coefficients Based on Novel Nussbaum Functions

Abstract

This article investigates the distributed control of a group of stochastic high-order nonlinear systems in which the subsystems are with unknown and time-varying control coefficients of unknown signs, inherent nonlinear drift and diffusion terms. To solve the control problem with unknown control directions, where traditional available Nussbaum functions are not applicable for the consensus of stochastic nonlinear systems with unknown and time-varying coefficients of unknown signs, a novel type of Nussbaum function is proposed with a new paradigm of stability analysis in probability. Global consensus control of stochastic multiagent systems is achieved by designing distributed controllers which integrate designed distributed filters and novel Nussbaum functions. In addition, it can be proved that all signals in the closed-loop system are bound in probability, and the transient consensus errors of the followers are bounded by positive constants which can be adjusted arbitrarily small. The effectiveness of the proposed control scheme is demonstrated by simulation results.