Time Cost for Consensus of Stochastic Multiagent Systems With Pinning Control

In this article, the estimation of time cost for stochastic consensus of second-order nonlinear multiagent systems (MASs) is investigated. Compared with previous studies, the effect of noise and nonlinear inherent dynamics of agents are considered. In order to achieve the finite/fixed-time stochastic consensus while minimizing energy consumption, the pinning protocols are designed, which only need to control a small fraction of agents. Sufficient conditions for the stochastic consensus are established by employing the stability theory of stochastic differential equations and the algebra graph theory. Finally, the proposed protocols are verified through numerical simulation on the consensus of unmanned aerial vehicles (UAVs) system.