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首页> 外文期刊>IEEE Transactions on Automatic Control >A Mean Square Consensus Protocol for Linear Multi-Agent Systems With Communication Noises and Fixed Topologies
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A Mean Square Consensus Protocol for Linear Multi-Agent Systems With Communication Noises and Fixed Topologies

机译：具有通信噪声和固定拓扑的线性多Agent系统的均方一致协议

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摘要

The mean square consensus of linear multi-agent systems with communication noises is studied in this note. Each agent is modeled by a continuous-time linear time-invariant dynamics and the fixed communication topology is described by a digraph. The proposed consensus protocol is composed of two parts: the agent's own state feedback and the relative states between agent and its neighbor agents. Due to the existence of communication noises, the relative states cannot be obtained accurately. To attenuate the noise effect, a time-varying gain vector $a(t)K$ is applied to the inaccurate relative states. It is proved that: 1) if the communication topology has a spanning tree and every node has at least one parent node, then the proposed protocol can solve the mean square consensus problem if and only if $a(t)$ satisfies $int ^{infty} _{0}a(s)ds = infty $ and $int ^{infty} _{0}a^{2}(s)ds < infty $; and all roots of the polynomial whose coefficients are the elements of vector $K$ are in the left half complex plane; 2) if the communication topology has a spanning tree and there exists one node without any parent node, then the condition $int ^{infty} _{0}a^{2}(s)ds < infty $ is only sufficient but not necessary; and 3) if the communication topology has no spanning tree, then the proposed protocol cannot solve the mean square consensus problem.
机译：本文研究了带有通信噪声的线性多智能体系统的均方一致性。每个代理都由连续时间线性时不变动力学建模，固定通信拓扑由有向图描述。所提出的共识协议由两部分组成：主体自身的状态反馈以及主体与其邻居主体之间的相对状态。由于存在通信噪声，因此无法准确获得相对状态。为了减弱噪声影响，将时变增益矢量$ a（t）K $应用于不准确的相对状态。证明：1）如果通信拓扑结构具有一棵生成树，并且每个节点至少有一个父节点，则当且仅当$ a（t）$满足$ int ^时，所提出的协议才能解决均方共识问题。 {infty} _ {0} a（s）ds = infty $和$ int ^ {infty} _ {0} a ^ {2}（s）ds

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