Leader-following consensus of single-integrator multi-agent systems under noisy and delayed communication |
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Authors: | Sabir Djaidja Qinghe Wu |
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Affiliation: | 1.School of Automation,Beijing Institute of Technology,Beijing,P. R. China |
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Abstract: | This paper proposes a leader-following consensus control for continuous-time single-integrator multi-agent systems with multiplicative measurement noises and time-delays under directed fixed topologies. Each agent in the team receives imprecise information states corrupted by noises from its neighbours and from the leader; these noises are depending on the agents’ relative states information. Moreover, the information states received are also delayed by constant or time-varying delays. An analysis framework based on graph theory and stochastic tools is followed to derive conditions under which the tracking consensus of a constant reference is achieved in mean square. The effectiveness of the proposed algorithms is proved through some simulation examples. |
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