The issue of exponential consensus for delayed multi-agent systems (MASs) with stochastic faults and switching topologies is addressed in this work. In contrast with the existing relative works on MASs with a fixed communication topology, the topological graph is governed by an uncertain Markov chain, where the restrictions on transition rates (TRs) of Markov switching topologies are loose, which may be partially known or completely unknown. Moreover, a reliable asynchronous control protocol with the stochastic failure behaviour of the actuator on account of the relative information of neighbouring agents is devised. Relaxation of criterions with respect to the consensus of delayed MASs based on the Lyapunov methodology, Wirtinger's inequality and an improved reciprocally convex combination strategy are derived. An unmanned aerial vehicle (UAV) is presented to demonstrate the superiority and applicability of the proposed method.

这项工作解决了具有随机故障和切换拓扑的延迟多代理系统 (MAS) 的指数共识问题。与具有固定通信拓扑的 MAS 的现有相关工作相比，拓扑图由不确定的马尔可夫链控制，其中马尔可夫切换拓扑的转换率 (TR) 的限制是松散的，可能部分已知或完全未知. 此外，设计了一种可靠的异步控制协议，该协议具有基于相邻代理的相关信息的执行器的随机故障行为。基于Lyapunov 方法、Wirtinger 不等式和改进的相互凸组合策略，推导出关于延迟MAS 的一致性的标准放宽。