Mean Square Average Consensus Over Directed Communication Topology With Measurement Noises
Average consensus is an interesting research topic and has wide applications in distributed control,estimation and optimization.Most existing studies are focused on balanced communication graphs which may not be practical.On the other hand,measurement noises are unavoidable in the real systems.Therefore,we consider the average consensus problem for multi-agent systems with measurement noises under unbalanced digraphs.By introducing extra variables to calculate the asymptotic weighting,the system matrix is scaled with the extra variables and the average of the initial state values can be asymptotically achieved.On the other hand,we introduce a decaying gain function such that the measurement noises can be attenuated.Due to the existence of noises,the average consensus is analyzed in the mean square sense.Finally numerical examples are given to demonstrate the proposed control protocol.
Average Consensus Multi-agent Mean Square Consensus Directed Graph Measurement Noise
LIU Shuai XIE Lihua LONG Yushen
School of Electrical and Electronic Engineering,Nanyang Technological University,Singapore
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1609-1614
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）