Consensus of Multi-agent Systems with Time Delays and Measurement Noises
Xiaole Xu, Wei Huang, Shengyong Chen, Lixin Gao · TELKOMNIKA Indonesian Journal of Electrical Engineering · 2012
In this paper, the leader-following consensus problem of high order multi-agent systems with time-varying communication delays and noises is considered. The interconnection topology among the agents is assumed to be switching and undirected. The dynamics of each agent and the leader is a linear system. To track the active leader, a neighbor-based control of each following agent is designed in using local information. The control design technique is based on algebraic graph theory, Riccati inequality and Lyapunov inequality. By using Lyapunov-Razumikhim and stochastic analysis methods, we prove that the closed loop tracking control system is stochastically stable in mean square and the estimation errors converge to zero in mean square as well. Finally, a numerical example is given to illustrate the obtained result. DOI: http://dx.doi.org/10.11591/telkomnika.v10i6.1429 Full Text: PDF