Abstract
The leader-following output consensus problem of multi-agent systems (MAS) is studied in this paper. Each agent is modeled by a single-input single-output (SISO) system which can be further described by a controllable and observable linear state space model. An observer is constructed to estimate the agent's state, and the estimated state is shared with neighbor agents via the noisy communication channels. Similar to the previous work, in the proposed protocol a time-varying gain is employed to attenuate the noise's effect. However, in this paper, each agent is allowed to have its own time-varying gain. Some sufficient conditions on the time-varying gain are given for ensuring the consensus in the mean square sense. Finally, a simulation example is presented to verify the theoretical results.
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