The consensus control of multiagent systems (MASs) over randomly switching communication topologies has drawn increasing attention from researchers, since the mean square consensus or the most surely consensus is significant and practical. This manuscript focuses on the output consensus problem for heterogeneous MASs with input saturation constraints over the Markovian randomly switching topologies. The main challenge of solving the concerned problem lies in the interplay among the heterogeneous dynamics, input saturation constraints and the Markovian randomly switching topologies. To overcome such a challenge, a class of distributed adaptive observers is first designed for all agents to deal with the uncertainty caused by the randomly switching topologies. Then, a class of local state observers is presented for estimating each agent’s state information. Based on the above steps, a class of antiwindup controllers is constructed and the control gain matrices are selected using only the dynamics information of each node. Finally, the effectiveness of the consensus protocol is demonstrated.

中文翻译：

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马尔可夫随机切换拓扑异构多智能体系统的分布式抗饱和共识控制

多智能体系统（MAS）对随机切换通信拓扑的共识控制引起了研究人员的越来越多的关注，因为均方共识或最肯定的共识是重要且实用的。这篇手稿重点讨论了异构 MAS 的输出一致性问题，该问题在马尔可夫随机切换拓扑上具有输入饱和约束。解决相关问题的主要挑战在于异构动力学、输入饱和约束和马尔可夫随机切换拓扑之间的相互作用。为了克服这样的挑战，首先为所有代理设计了一类分布式自适应观察器，以处理随机切换拓扑引起的不确定性。然后，提出了一类本地状态观察者来估计每个代理的状态信息。在上述步骤的基础上，构造了一类抗饱和控制器，并仅使用每个节点的动态信息来选择控制增益矩阵。最后证明了共识协议的有效性。