Abstract
In this paper, we investigate the static ϵ-consensus problem of multi-agent systems with double-integrator agent dynamics over a connected undirected communication topology. It is assumed that only noisy measurements of neighbors’ states are available. We propose two types of consensus protocols using and without using neighbors’ velocity information, respectively. With the knowledge of the bounds of measurement noises, we show that, under these consensus protocols, the velocities of all agents achieve consensus at zero and the positions of all agents achieve ϵ-consensus. Numerical examples are shown to illustrate the theoretical results.
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