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Mean square consensus of leader-following multi-agent systems with measurement noises and time delays
1School of Computer and Electronic Information, Guangdong University of Petrochemical Technology, Maoming 525000, PR China; School of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, PR China.
Abstract:
This paper investigates the mean square consensus problem of dynamical networks of leader-following multi-agent systems with measurement noises and time-varying delays. We consider that the fixed undirected communication topologies are connected. A neighbor-based tracking algorithm together with distributed estimators are presented. Using tools of algebraic graph theory and the Gronwall-Bellman-Halanay type inequality, we establish sufficient conditions to reach consensus in mean square sense via the proposed consensus protocols. Finally, a numerical simulation is provided to demonstrate the effectiveness of the obtained theoretical result.
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