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Consensus control of second‐order delayed multiagent systems with intrinsic dynamics and measurement noises
Author(s) -
Zong Xiaofeng,
Li Tao,
Zhang JiFeng
Publication year - 2018
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.4301
Subject(s) - multiplicative function , control theory (sociology) , nonlinear system , lyapunov function , multi agent system , multiplicative noise , mathematics , degenerate energy levels , position (finance) , square (algebra) , mean square , dynamics (music) , computer science , control (management) , mathematical analysis , physics , transmission (telecommunications) , artificial intelligence , telecommunications , geometry , finance , signal transfer function , quantum mechanics , analog signal , economics , acoustics
Summary This paper studies the consensus control of second‐order multiagent systems with intrinsic dynamics based on delayed and noisy measurements, where the delays in the position and velocity measurements are allowed to be different. The nonlinear and linear intrinsic dynamics are considered, respectively. For the case with nonlinear dynamics, mean square and almost sure consensus conditions are established by applying the degenerate Lyapunov functional and stochastic stability theorems. For the delay‐free case with linear dynamics, appropriate Lyapunov functions are established to get some simple sufficient conditions for mean square and almost sure consensus, and necessary conditions for mean square consensus. It is shown that, with respect to the weighted average type control protocols, second‐order multiagent systems are kept mean square consentable under multiplicative measurement noises alone or intrinsic dynamics alone, but may become unconsentable due to the coexistence of multiplicative noises and intrinsic dynamics. These results are further extended to leader‐following multiagent systems.