This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown motion. Its main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic noise. In traditional ways, the coupling weights depending on the communication structure are static. A new distributed controller is designed based on Riccati inequalities, while updating the coupling weights associated with the gain matrix by state errors between adjacent agents. By introducing time-varying coupling weights into this novel control law, the state errors between leader and followers asymptotically converge to the minimum value utilizing the local interaction. Through the Lyapunov directed method and Itô formula, the stability of the closed-loop system with the proposed control law is analyzed. Two simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.

中文翻译：

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具有异质干扰的定向拓扑中跟随领导多智能体系统的共识控制

本文研究了由布朗运动产生异质性扰动的线性多智能体系统的共识问题。它的主要贡献在于，设计了一种控制方案，以在受到随机噪声干扰的定向拓扑结构中实现多智能体系统的动态共识。以传统方式，取决于通信结构的耦合权重是静态的。基于Riccati不等式设计了一种新的分布式控制器，同时通过相邻代理之间的状态误差来更新与增益矩阵关联的耦合权重。通过将时变耦合权重引入此新颖的控制律中，利用局部交互作用，领导者和跟随者之间的状态误差渐近收敛于最小值。通过Lyapunov定向方法和Itô公式，利用所提出的控制律分析了闭环系统的稳定性。提出了由新的和传统的方案进行的两个仿真结果，以证明所开发的控制方法的有效性和优势。