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arXiv · 1508.06927

On Convergence Rate of Leader-Following Consensus of Linear Multi-Agent Systems with Communication Noises

Long Cheng·Yunpeng Wang·Wei Ren·Zeng-Guang Hou·Min Tan
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Abstract

This note further studies the previously proposed consensus protocol for linear multi-agent systems with communication noises in [15], [16]. Each agent is allowed to have its own time-varying gain to attenuate the effect of communication noises. Therefore, the common assumption in most references that all agents have the same noise-attenuation gain is not necessary. It has been proved that if all noise-attenuation gains are infinitesimal of the same order, then the mean square leader-following consensus can be reached. Furthermore, the convergence rate of the multi-agent system has been investigated. If the noise-attenuation gains belong to a class of functions which are bounded above and below by $t^{-\beta}$ $(\beta\in(0,1))$ asymptotically, then the states of all follower agents are convergent in mean square to the leader's state with the rate characterized by a function bounded above by $t^{-\beta}$ asymptotically.

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Long Cheng, Yunpeng Wang, Wei Ren, Zeng-Guang Hou, Min Tan. 2015-08-27. On Convergence Rate of Leader-Following Consensus of Linear Multi-Agent Systems with Communication Noises. https://arxiv.org/abs/1508.06927

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