Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 56, Issue 8, Pages 1958-1963Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2011.2139450
Keywords
Average consensus; double-integrator; mean square; measurement noise; multi-agent systems (MASs)
Funding
- National Natural Science Foundation of China [61004099, 60725309, 60805038]
- National Hi-Tech R&D Program (863) of China [2010AA044001]
- Chinese Academy of Sciences
- supervisor's research fund for the Beijing Outstanding Doctoral Thesis
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An average consensus protocol is proposed for continuous-time double-integrator multi-agent systems with measurement noises under fixed topologies. The time-varying control gain is employed to attenuate noises. The closed-loop system is therefore a time-varying linear stochastic differential equation. By determining the state transition matrix of this closed-loop system, the dynamic characteristics of the multi-agent system can be fully described. It is proved that in the noisy communication environment the average consensus can be achieved if and only if the communication topology is a balanced and strongly connected graph, and the time-varying control gain satisfies the stochastic approximation-type conditions. Under the proposed protocol, the position of each agent is convergent in mean square to a common random variable whose mathematical expectation is the average of initial positions and initial velocities of all agents in the system, while each agent's velocity is convergent in mean square to a common random variable whose mathematical expectation and variance are both zero.
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