Consensus for Networks with Unknown but Bounded Disturbances
Dario Bauso, Laura Giarré, Raffaele Pesenti · SIAM Journal on Control and Optimization · 2009
We consider stationary consensus protocols for networks of dynamic agents. The measure of the neighbors' states is affected by unknown but bounded disturbances. Here the main contribution is the formulation and solution of what we call the $\epsilon$-consensus problem, where the states are required to converge in a target set of radius $\epsilon$ asymptotically or in finite time. We introduce as a solution a dead-zone policy that we denote as the lazy rule.