Consistency tracking control method and device for multi-agent system, equipment and medium

The invention discloses a consistency tracking control method and device for a multi-agent system, equipment and a medium. The method comprises the steps that a communication topological graph of the multi-agent system and dynamic models, meeting Lipschitz continuous conditions, of a leading agent and a following agent are built; determining a tracking error of the multi-agent system, and a consistency tracking control target and parameter matrix information when the agent system meets a preset assumed condition; determining relative state information between each following agent and the corresponding neighbor agent, and judging whether a relative state value of the multi-agent system can be obtained or not; and determining a consistency tracking controller of the multi-agent control system according to the judgment result, the relative state information and the parameter matrix information. Different completely distributed consistency tracking controllers are designed under the condition that different relat