Considering the complexity of communication environment in reality, this paper investigates the adaptive output consensus problem for heterogeneous nonlinear multi‐agent system (MAS) under random link failures, in which connection of each link may suffer from link failure. The major challenge lies in dealing with the coupling among different nonlinearities and integrator orders of heterogeneous agents while the distributed communication may fail randomly. Hence, a two‐level distributed adaptive control scheme based on the virtual model‐reference strategy will be presented. In the first level, virtual reference models are constructed to deal with the uncertainties caused by the random link failures, and a distributed consensus control strategy is designed based on the established communication observer of each agent. In the second level, an adaptive backstepping tracking controller drives each agent's output to follow its virtual reference model and compensate for the agent's uncertainties. The mean square stability of the controlled MAS has been rigorously proved. An illustrative example is presented to demonstrate the effectiveness of the given control scheme.

中文翻译：

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部分未知转换率随机链路故障下异构非线性多智能体系统的自适应输出一致性

考虑到现实通信环境的复杂性，本文研究随机链路故障下异构非线性多智能体系统（MAS）的自适应输出一致性问题，其中每个链路的连接都可能遭受链路故障。主要挑战在于处理异构代理的不同非线性和积分阶数之间的耦合，而分布式通信可能会随机失败。因此，将提出一种基于虚拟模型参考策略的两级分布式自适应控制方案。在第一层，构建虚拟参考模型来处理随机链路故障引起的不确定性，并基于建立的每个代理的通信观察者设计分布式共识控制策略。在第二级中，自适应反步跟踪控制器驱动每个代理的输出遵循其虚拟参考模型并补偿代理的不确定性。受控MAS的均方稳定性已得到严格证明。给出了一个说明性示例来证明给定控制方案的有效性。