Consensus seeking in a network of discrete-time linear agents with communication noises

Yunpeng Wang, Long Cheng, Zeng-Guang Hou, Min Tan, Chao Zhou and Ming Wang

International Journal of Systems Science, 2015, vol. 46, issue 10, 1874-1888

Abstract: This paper studies the mean square consensus of discrete-time linear time-invariant multi-agent systems with communication noises. A distributed consensus protocol, which is composed of the agent's own state feedback and the relative states between the agent and its neighbours, is proposed. A time-varying consensus gain a[k] is applied to attenuate the effect of noises which inherits in the inaccurate measurement of relative states with neighbours. A polynomial, namely ‘parameter polynomial’, is constructed. And its coefficients are the parameters in the feedback gain vector of the proposed protocol. It turns out that the parameter polynomial plays an important role in guaranteeing the consensus of linear multi-agent systems. By the proposed protocol, necessary and sufficient conditions for mean square consensus are presented under different topology conditions: (1) if the communication topology graph has a spanning tree and every node in the graph has at least one parent node, then the mean square consensus can be achieved if and only if ∑∞k = 0a[k] = ∞, ∑∞k = 0a2[k]

Date: 2015
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DOI: 10.1080/00207721.2013.837544

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