Leader-following consensus of single-integrator multi-agent systems under noisy and delayed communication

This paper proposes a leader-following consensus control for continuous-time single-integrator multi-agent systems with multiplicative measurement noises and time-delays under directed fixed topologies. Each agent in the team receives imprecise information states corrupted by noises from its neighbo...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2016, Automation, and Systems, 14(2), , pp.357-366
Main Authors: Djaidja, Sabir, Wu, Qinghe
Format: Article
Language:English
Subjects:
Algorithms
Automation
Communication
Constants
Control
Control systems
Control theory
Delay
Engineering
Graph theory
Mathematical analysis
Mean square values
Mechatronics
Multiagent systems
Noise
Regular Papers
Robotics
Sensors
Simulation
Studies
Tracking
제어계측공학
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Summary:This paper proposes a leader-following consensus control for continuous-time single-integrator multi-agent systems with multiplicative measurement noises and time-delays under directed fixed topologies. Each agent in the team receives imprecise information states corrupted by noises from its neighbours and from the leader; these noises are depending on the agents’ relative states information. Moreover, the information states received are also delayed by constant or time-varying delays. An analysis framework based on graph theory and stochastic tools is followed to derive conditions under which the tracking consensus of a constant reference is achieved in mean square. The effectiveness of the proposed algorithms is proved through some simulation examples.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-014-0262-6