Necessary and sufficient conditions for solving the leader-following problem of multi-agent systems with communication noises
Yunpeng Wan; Long Cheng; Zeng-Guang Hou; Min Tan; Huiyang Liu; Ming Wang
2013
会议名称25th Chinese Control and Decision Conference (CCDC)
会议日期25-27 May 2013
会议地点Guiyang
会议举办国China
摘要The leader-following problem of first-order integral multi-agent systems with communication noises is investigated in this paper. To attenuate the noise's effect, a positive time-varying gain a(t) is employed in the protocol. It is proved that the proposed protocol can solve the mean square leader-following problem if the following conditions hold: 1) the communication topology graph has a spanning tree; 2) ∫ 0 ∞ a(t)dt = ∞; 3) lim t→∞ a(t) = 0. The requirements on a(t) are different from most existing papers, where a(t) is required to satisfy that ∫ 0 ∞a(t)dt = ∞ and ∫ 0 ∞ a 2 (t)dt <; ∞. It turns out that ∫ 0 ∞ a 2 (t)dt <; ∞ implies limt→∞ a(t) = 0, if a(t) is uniformly continuous. Therefore this paper relaxes the requirements on a(t) to some extent. In addition, under the mild condition (a(t) is uniformly continuous) these three conditions are necessary as well. Furthermore, if ∫ 0 ∞ a 2 (t)dt <; ∞, the employed protocol is proved to be able to solve the almost sure leader-following problem of first-order integral multi-agent system. Finally, a simulation example is provided to verify the effectiveness of the employed protocols.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23150
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Yunpeng Wan,Long Cheng,Zeng-Guang Hou,et al. Necessary and sufficient conditions for solving the leader-following problem of multi-agent systems with communication noises[C],2013.
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