Output Feedback Consensus for High-order Stochastic Multi-agent Systems With Unknown Time-varying Delays

This paper addresses the dynamic output feedback leader-following consensus control for a class of high-order stochastic multi-agent systems characterized by unknown time-varying delays. The agents are modeled as a class of stochastic strict feedback nonlinear systems with unknown time-varying delays. Additionally, the states of the agents are unknown for control design. To address these challenges, observers are designed firstly to estimate the unknown states of each agent. Subsequently, a distributed observer-based output feedback consensus protocol, relying solely on the outputs of neighboring agents, is introduced. It is shown that the followers can effectively track the leader’s output with a 1st-moment exponential rate. The effectiveness of the proposed control scheme is validated through simulation examples.