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Consensus control for leader-following multi-agent systems with measurement noises

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Abstract

This work is concerned with consensus control for a class of leader-following multi-agent systems (MASs). The information that each agent received is corrupted by measurement noises. To reduce the impact of noises on consensus, time-varying consensus gains are adopted, based on which consensus protocols are designed. By using the tools of stochastic analysis and algebraic graph theory, a sufficient condition is obtained for the protocol to ensure strong mean square consensus under the fixed topologies. This condition is shown to be necessary and sufficient in the noise-free case. Furthermore, by using a common Lyapunov function, the result is extended to the switching topology case.

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Authors and Affiliations

  1. School of Mathematical Sciences, Qufu Normal University, Qufu, 273165, China

    Cuiqin Ma

  2. Key Laboratory of Systems and Control, Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100190, China

    Tao Li & Jifeng Zhang

Authors
  1. Cuiqin Ma
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  2. Tao Li
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  3. Jifeng Zhang
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Corresponding author

Correspondence to Cuiqin Ma.

Additional information

This research was supported by the National Natural Science Foundation of China under Grant Nos. 60821091 and 60934006. Part of this work was presented at the 17th IFAC World Congress, Seoul, Korea, July 2008

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Ma, C., Li, T. & Zhang, J. Consensus control for leader-following multi-agent systems with measurement noises. J Syst Sci Complex 23, 35–49 (2010). https://doi.org/10.1007/s11424-010-9273-4

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  • DOI: https://doi.org/10.1007/s11424-010-9273-4

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