Consensus tracking control of heterogeneous nonlinear multi-agent systems with random switching and uncertain targets

This paper investigates the consensus tracking problem of heterogeneous switched nonlinear multi-agent systems with uncertain targets, where the target contains unknown input signals, and its states are not limited by bounded assumptions. Moreover, random switching not only considers the transition probability but also focuses on the dwell time. Mainly because the target is uncertain, nonlinear, heterogeneous, and randomly switched, the consensus tracking problem is rather difficult to solve by existing methods. As such, a novel mode-dependent dual-design framework for consensus tracking problems is developed. Then, a new multiple Lyapunov function is proposed by introducing free matrices and parameters. Subsequently, the criteria are given, under which heterogeneous switched nonlinear multi-agent systems can almost surely track uncertain targets with exponential consistency. Finally, a simulation case is provided to demonstrate the effectiveness of the proposed control scheme.