Consensus Error Calculation for Multiagent Systems With Both System and Measurement Noises
Zhongmei Wang, Huanshui Zhang · IEEE Transactions on Control of Network Systems · 2017
This paper investigates a consensus problem for multiagent systems with both system and measurement noises. By applying Kalman filtering and weighted-average estimation fusion, a novel consensus protocol is designed based on distributed state estimation. It is shown that under the proposed protocol, the consensus error is bounded and can be exactly characterized via the solution to a Lyapunov equation. The numerical examples are given to show the correctness of the proposed results.