The application provides a
consistency control method of a discrete time heterogeneous multi-agent
system, aiming at the
consistency control problem of a first-order and second-order heterogeneous multi-agent
system with
multiplicative noise, a distributed control protocol under a
multiplicative noise environment is provided, under the distributed control protocol, the
consistency problem of the heterogeneous multi-agent
system is further converted into the stability problem of a discrete time random system with
multiplicative noise. Then, a proper
Lyapunov function is constructed, a stability
analysis method of the equation is provided, for a leader-follower heterogeneous multi-agent system, sufficient conditions of
mean square and almost sure consistency are obtained, proper control gains are solved, and the
consistency control of the discrete time heterogeneous multi-agent system under the multiplicative
noise environment is realized. The application has the beneficial effects that the influence of the measurement information on the multiplicative measurement
noise is greatly reduced, and the consistency control of the heterogeneous multi-agent system is realized.