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Scaled consensus for second-order multi-agent systems subject to communication noise with stochastic

Chongyang Wang1, Yingxue Du1, Zhi Liu1

  • 1School of Automation and Electrical Engineering, Linyi University, Shandong 276000, China.

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|November 8, 2023
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Summary
This summary is machine-generated.

This study addresses stochastic scaled consensus in noisy multi-agent systems. New protocols with time-varying gains achieve consensus, even with constant or zero velocities, overcoming Lyapunov method limitations.

Keywords:
Communication noiseLeader-following consensusLeaderless consensusScaled consensusStochastic approximationStochastic multi-agent systems

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Area of Science:

  • Control Theory
  • Networked Systems
  • Stochastic Systems

Background:

  • Multi-agent systems (MASs) often face challenges like communication noise and achieving consensus.
  • Scaled consensus, where agent ratios converge to constants, is a complex variant of traditional consensus.

Purpose of the Study:

  • To investigate leaderless/leader-following stochastic scaled consensus for second-order stochastic multi-agent systems (SMASs) in noisy environments.
  • To develop novel stochastic approximation protocols with time-varying gains to mitigate communication noise effects.

Main Methods:

  • Designed stochastic approximation protocols with non-negative time-varying gains to handle communication noise.
  • Employed a state decomposition method to circumvent the inapplicability of Lyapunov-based techniques due to time-varying gains.
  • Established sufficient necessary conditions for consensus in systems with constant and zero velocities, assuming a spanning tree topology.

Main Results:

  • The proposed protocols effectively address the stochastic scaled consensus problem in second-order SMASs under noise.
  • The developed conditions are applicable to systems with constant velocity and zero velocity agents.
  • Demonstrated that consensus and bipartite consensus are special cases of the proposed framework.

Conclusions:

  • The study successfully presents a novel approach to stochastic scaled consensus in noisy SMASs.
  • The findings offer a generalized framework for consensus problems, including standard consensus and bipartite consensus.
  • Simulation results validate the effectiveness of the proposed methods and theoretical conditions.