文章针对带有持续干扰的连续线性多智能体系统, 研究了其拓扑结构马尔科夫切换下的均方一致性问题. 假设系统在每一时刻的拓扑结构是不连通的, 但他们的联合拓扑是连通的. 首先设计了一个控制协议, 其由两部分组成, 一部分是 传统的控制协议, 另一部分是对干扰的估计. 然后, 利用矩阵分析理论, 随机理论和系统稳定性理论, 得到了闭环系统实现一致的 充分条件. 最后, 仿真结果验证了结论的有效性.

This paper focuses on the mean square consensus problem of continuous-time multi-agent systems with persistent disturbances under Markovian switching topologies. Assume that each of the switching topologies is not connected, but the joint topology is connected. Then a distributed protocol is designed, which consists of two parts: One is the traditional control protocol, the other is the estimation of disturbances. Then, by using matrix analysis theory, stochastic theory and system's stability theory, sufficient conditions for achieving mean square consensus of the closed-loop systems are obtained. Finally, simulations are provided to demonstrate the effectiveness of the proposed algorithm.