CONSENSUS CONTROL FOR LEADER-FOLLOWING MULTI-AGENT SYSTEMS WITH MEASUREMENT NOISES

This work is concerned with consensus control for a class of leader-following multi-agent systems （MASs）. The information that each agent received is corrupted by measurement noises. To reduce the impact of noises on consensus, time-varying consensus gains are adopted, based on which consensus proto...

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Bibliographic Details
Published in:Journal of systems science and complexity 2010-02, Vol.23 (1), p.35-49
Main Authors: Ma, Cuiqin, Li, Tao, Zhang, Jifeng
Format: Article
Language:English
Subjects:
Complex Systems
Control
Mathematics
Mathematics and Statistics
Mathematics of Computing
Operations Research/Decision Theory
Statistics
Systems Theory
代数图论
共同Lyapunov函数
多Agent系统
多代理系统
时间变化
测量噪声
观测噪声
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Summary:This work is concerned with consensus control for a class of leader-following multi-agent systems （MASs）. The information that each agent received is corrupted by measurement noises. To reduce the impact of noises on consensus, time-varying consensus gains are adopted, based on which consensus protocols are designed. By using the tools of stochastic analysis and algebraic graph theory, a sufficient condition is obtained for the protocol to ensure strong mean square consensus under the fixed topologies. This condition is shown to be necessary and sufficient in the noise-free case. Furthermore, by using a common Lyapunov function, the result is extended to the switching topology case.
ISSN:1009-6124
1559-7067
DOI:10.1007/s11424-010-9273-4