A Mean Square Average Consensus Protocol for Discrete-Time Double-Integrator Multi-Agent Systems with Communication Noises
An average consensus protocol is proposed for discrete-time double-integrator multi-agent systems with communication noises under fixed topologies. The proposed consensus protocol is composed of two parts: the agent”s own state feedback and the relative states between the agent and its neighbor agents. Due to the existence of communication noises, the relative states cannot be obtained accurately. To attenuate the noise effect, a time-varying consensus gain a(k) is applied to the relative states in the proposed protocol. Hence, the closed-loop dynamics of multi-agent systems is a linear stochastic difference equation with variable coefficients. Fortunately, the state transition matrix of this stochastic system can be solved, and the dynamical behavior of linear multi-agent systems can therefore be determined. It is proved that the proposed protocol is able to solve the mean square average consensus problem if and only if the topology graph is connected; and the time-varying gain a(k) satisfies the stochastic-approximation type conditions (Omission)。
consensus stochastic mean square multi-agent systems double-integrator
Long Cheng Zeng-Guang Hou Yunpeng Wang Min Tan Zhiqiang Cao
State Key Laboratory of Intelligent Control and Management of Complex System, Institute ofAutomation State Key Laboratory of Intelligent Control and Management of Complex System, Institute of Automatio
国内会议
烟台
英文
1-7
2011-10-21（万方平台首次上网日期，不代表论文的发表时间）