Leader-Following Consensus Control for Uncertain Feedforward Stochastic Nonlinear Multiagent Systems

Kuo Li, Changchun Hua, Xiu You, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This article addresses the leader-following consensus problem of feedforward stochastic nonlinear multiagent systems with switching topologies. Output information for all agents, except for state information, can be acquired based on sensor measurement. Moreover, the stochastic disturbances from external unpredictable environments are considered on all agent systems with a feedforward structure. In these conditions, we propose a novel consensus scheme with a simple design procedure. First, for each follower, we construct a dynamic gain-based switched compensator using its output and its neighbor agents' outputs to provide feedback control signals. Then, for each follower, we develop a compensator-based distributed controller that is not directly associated with the topology switching signal such that it has a first derivative and antishake. Thereafter, by means of the Lyapunov stability theory, we verify that the leader-following consensus can be acquired asymptotically in probability under the controllers' action if the topology switching signal fulfills an average dwell time condition. Finally, the feasibility of the control algorithm is checked via numerical simulation.

Original languageEnglish
JournalIEEE Transactions on Neural Networks and Learning Systems
Publication statusAccepted/In press - 2021


  • Consensus control
  • Control systems
  • Feedforward stochastic multiagent systems
  • Feedforward systems
  • Multi-agent systems
  • Nonlinear systems
  • output-feedback consensus control
  • switched compensators
  • Switches
  • switching topologies.
  • Topology

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Computer Networks and Communications
  • Artificial Intelligence


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