研究了基于不可靠通信网络的连续时间多自主体系统的趋同控制.自主体间的通信信道受高斯噪声干扰; 不可靠通信因素导致的网络拓扑随机切换由马氏链刻画.
为克服随机噪声和马尔科夫拓扑切换的影响, 设计了随机逼近型趋同协议;基于马氏跳参数随机微分方程稳定性理论、代数图理论、连续鞅和马氏链理论,
证明了多自主体系统实现渐近无偏均方平均趋同和以概率1平均趋同,分析了各个体所用增益函数的不同对趋同性的影响.

Distributed consensus of continuous-time multi-agent systems (MASs)  in uncertain communication environments is investigated. The communication channelbetween each pair of adjacent agents is subjected to Guassian disturbances. The random switches between different communication topologies are described by Markov processes. We design a distributed consensus protocol to attenuate the communication noises and Markov topology switches.
Under mild conditions, both the asymptotic unbiased mean square average-consensus and asymptotic unbiased almost sure average-consensus are established by use of Markovian switching stochastic differential equation theory,algebriac graph theory, continuous martingale theory and Markov chain theory.The effect of agent-dependent gain functions on the consensus of MASs is also analyzed.