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Stochastic consensus of single‐integrator multi‐agent systems under relative state‐dependent measurement noises and time delays
Author(s) -
Djaidja S.,
Wu Q.H.,
Cheng L.
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3610
Subject(s) - network topology , consensus , dwell time , multi agent system , control theory (sociology) , double integrator , state (computer science) , mathematics , spanning tree , integrator , tree (set theory) , strongly connected component , topology (electrical circuits) , computer science , control (management) , algorithm , discrete mathematics , combinatorics , computer network , bandwidth (computing) , artificial intelligence , medicine , clinical psychology , operating system
Summary This paper proposes a consensus algorithm for continuous‐time single‐integrator multi‐agent systems with relative state‐dependent measurement noises and time delays in directed fixed and switching topologies. Each agent's control input relies on its own information state and its neighbors' information states, which are delayed and corrupted by measurement noises whose intensities are considered a function of the agents' relative states. The time delays are considered time‐varying and uniform. For directed fixed topologies, condition to ensure mean square linear χ ‐consensus (average consensus, respectively) are derived for digraphs having spanning tree (balanced digraphs having spanning tree, respectively). For directed switching topologies, conditions on both time delays and dwell time have been given to extend the mean square linear χ ‐consensus (average consensus, respectively) of fixed topologies to switching topologies. Copyright © 2016 John Wiley & Sons, Ltd.