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中文摘要：
在时变连接概率的随机拓扑条件下，研究了离散时间高阶线性群系统的一致性问题．首先，给出一个依赖于相邻主体间拓扑连接概率和各个主体自身信息的随机控制协议；然后，应用状态空间分解法分析离散时间高阶线性群系统的一致性，给出了在连接概率时变的随机拓扑条件下以概率为1实现一致的充分必要条件；进而，确定了随机拓扑条件下离散时间高阶线性群系统的一致函数；最后，通过数值分析验证了所得出结论的正确性．
英文摘要：
Consensus problems of high-order swarm system over random topologies with time-varying communication probability are investigated. Firstly, based on the random relative information of neighboring agents, distributed dynamic consensus protocols are proposed. Then, by using the state space decomposition approach to analyze discrete-time high-order multi-agent network, a necessary and sufficient condition for consensus over random topologies with probability 1 is given. Moreover, the explicit expression of the consensus function is presented via random topologies. Finally, numerical simulations demonstrate the correctness of the obtained theoretical results.
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