期刊
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
卷 56, 期 1, 页码 19-52出版社
SIAM PUBLICATIONS
DOI: 10.1137/15M1019775
关键词
multi-agent system; additive noise; multiplicative noise; mean square consensus; almost sure consensus
资金
- National Natural Science Foundation of China [61522310]
- Shanghai Municipal Education Commission
- Shanghai Education Development Foundation [17SG26]
- Fundamental Research Funds for the Central Universities, China University of Geosciences (Wuhan) [CUG170610]
- National Key Basic Research Program of China (973 Program) [2014CB845301]
This work is concerned with the consensus problem of multi-agent systems with additive and multiplicative measurement noises. By developing general stochastic stability lemmas for nonautonomous stochastic differential equations, stochastic weak and strong consensus conditions are investigated under fixed and time-varying topologies, respectively. For the case with fixed topologies and additive noises, the necessary and sufficient conditions for almost sure strong consensus are given. It is revealed that almost sure strong consensus and mean square strong consensus are equivalent under general digraphs, and almost sure weak consensus implies mean square weak consensus under undirected graphs; if multiplicative noises appear, then small noise intensities do not affect the control gain to guarantee stochastic strong consensus. For the case with time-varying topologies, sufficient consensus conditions are given under the periodically connected condition of the topology flow.
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