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Consensus seeking in a network of discrete-time linear agents with communication noises
Wang, Yunpeng; Cheng, Long; Hou, Zeng-Guang; Tan, Min; Zhou, Chao; Wang, Ming
Source PublicationINTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
2015
Volume46Issue:10Pages:1874-1888
SubtypeArticle
AbstractThis paper studies the mean square consensus of discrete-time linear time-invariant multi-agent systems with communication
noises. A distributed consensus protocol, which is composed of the agent’s own state feedback and the relative states between
the agent and its neighbours, is proposed. A time-varying consensus gain
a[k] is applied to attenuate the effect of noises which
inherits in the inaccurate measurement of relative states with neighbours. A polynomial, namely ‘parameter polynomial’,
is constructed. And its coefficients are the parameters in the feedback gain vector of the proposed protocol. It turns out
that the parameter polynomial plays an important role in guaranteeing the consensus of linear multi-agent systems. By the
proposed protocol, necessary and sufficient conditions for mean square consensus are presented under different topology
conditions: (1) if the communication topology graph has a spanning tree and every node in the graph has at least one parent
node, then the mean square consensus can be achieved if and only if
k=0 a[k] = ∞, k=0 a2[k] < and all roots of the
parameter polynomial are in the unit circle; (2) if the communication topology graph has a spanning tree and there exits
one node without any parent node (the leader–follower case), then the mean square consensus can be achieved if and only if

k=0 a[k] = ∞, limk → ∞a[k] = 0 and all roots of the parameter polynomial are in the unit circle; (3) if the communication
topology graph does not have a spanning tree, then the mean square consensus can never be achieved. Finally, one simulation
example on the multiple aircrafts system is provided to validate the theoretical analysis
  
KeywordConsensus Multi-agent Systems Discrete-time Linear Agent Mean Square Noise
Indexed BySCI
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19969
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorCheng, Long
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing.
Recommended Citation
GB/T 7714
Wang, Yunpeng,Cheng, Long,Hou, Zeng-Guang,et al. Consensus seeking in a network of discrete-time linear agents with communication noises[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,2015,46(10):1874-1888.
APA Wang, Yunpeng,Cheng, Long,Hou, Zeng-Guang,Tan, Min,Zhou, Chao,&Wang, Ming.(2015).Consensus seeking in a network of discrete-time linear agents with communication noises.INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,46(10),1874-1888.
MLA Wang, Yunpeng,et al."Consensus seeking in a network of discrete-time linear agents with communication noises".INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 46.10(2015):1874-1888.
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