Abstract
This paper investigates the consensus problem in mean square for uncertain multiagent systems with stochastic measurement noises and symmetric or asymmetric time‐varying delays. By combining the tools of stochastic analysis, algebraic graph theory, and matrix theory, we analyze the convergence of a class of distributed stochastic approximation type protocols with time‐varying consensus gains. Numerical examples are also given to illustrate the theoretical results.
Highlights
IntroductionMore and more researchers in the control community have focused their attention on distributed coordination of multiagent systems due to its broad applications in many fields such as unmanned aerial vehicles, mobile robots, autonomous underwater vehicles, automated highway systems, and formation control of satellite clusters
In recent years, more and more researchers in the control community have focused their attention on distributed coordination of multiagent systems due to its broad applications in many fields such as unmanned aerial vehicles, mobile robots, autonomous underwater vehicles, automated highway systems, and formation control of satellite clusters.In the cooperative control, a key problem is to design distributed protocols such that group of agents can achieve consensus through local communications
It is natural to consider the effect of measurement noises, time-varying delays, and parametric uncertainties on consensus problem of multi-agent systems
Summary
More and more researchers in the control community have focused their attention on distributed coordination of multiagent systems due to its broad applications in many fields such as unmanned aerial vehicles, mobile robots, autonomous underwater vehicles, automated highway systems, and formation control of satellite clusters. In 10, 11 , the authors studied consensus problems when there exist noisy measurements of the states of neighbors, and a stochastic approximation approach was applied to obtain mean square and almost sure convergence in models with fixed network topologies or with independent communications failures. It is natural to consider the effect of measurement noises, time-varying delays, and parametric uncertainties on consensus problem of multi-agent systems. To the best of our knowledge, little has been known about the consensus of uncertain multi-agent systems with measurement noises and time-varying delays. By taking measurement noises, symmetric or asymmetric time-varying delays, and parametric uncertainties into consideration, we will study the consensus problem for networks of continuous-time integrator agents under dynamically changing and directed topologies.
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