标题：Consensus via Time-Varying Feedback for Uncertain Stochastic Nonlinear Multiagent Systems
作者：Niu, Xinglong; Liu, Yungang; Li, Fengzhong
作者机构：[Niu, Xinglong; Liu, Yungang; Li, Fengzhong] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.
通讯作者：Liu, Yungang;Liu, YG
通讯作者地址：[Liu, YG]Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.
来源：IEEE TRANSACTIONS ON CYBERNETICS
关键词：Almost sure leader-following consensus; almost sure leaderless; consensus; stochastic nonlinear multiagent systems; time-varying; feedback; unknowns and time-variations
摘要：This paper focuses on the almost sure consensus via time-varying feedback for a class of uncertain stochastic nonlinear multiagent systems. A remarkable feature of the systems is that the nonlinearities allow serious unknowns and time-variations. Moreover, there exists no known bound for the unknown control coefficients. To handle the unknowns and time-variations, a time-varying consensus scheme is developed. The main idea of the scheme is to incorporate a delicate function of time into consensus protocols such that the unknowns and time-variations can be compensated as time increases. Based on the proposed protocols, the almost sure leaderless consensus and almost sure leader-following consensus are achieved. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.