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首页> 外文期刊>Mathematical Problems in Engineering >Stochastic Consensus of Single-Integrator Multiagent Systems with Inherent Nonlinear Dynamics and Measurement Noises in Directed Fixed Topologies
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Stochastic Consensus of Single-Integrator Multiagent Systems with Inherent Nonlinear Dynamics and Measurement Noises in Directed Fixed Topologies

机译：定向固有拓扑中固有非线性动力学和测量噪声的单积分多主体系统的随机一致性

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摘要

Consensus of continuous-time single-integrator multiagent systems with inherent nonlinear dynamics and measurement noises is addressed in this paper. The consensus controller is developed for directed interaction topologies. Each agent's control input is constructed based on its own state and its neighbors' states corrupted by noises. The control input contains a time-varying consensus gain in order to attenuate the noises. Conditions for ensuring mean square convergence under noisy measurement and asymptotic convergence in the noise-free case are derived. Finally, some simulations were carried out to show the effectiveness of our control law and how it can solve the consensus problem.
机译：本文讨论了具有固有非线性动力学和测量噪声的连续时间单积分多主体系统的共识。共识控制器针对定向交互拓扑而开发。每个代理的控制输入都是基于其自身的状态以及被噪声破坏的邻居的状态构造的。控制输入​​包含时变共识增益，以衰减噪声。推导了在无噪声情况下确保均方收敛和渐近收敛的条件。最后，进行了一些仿真，以证明我们的控制律的有效性及其如何解决共识问题。

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  • 来源
    《Mathematical Problems in Engineering》 |2014年第21期|487850.1-487850.11|共11页
  • 作者

    Djaidja Sabir; Wu Qinghe;

  • 作者单位

    Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China.;

    Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China.;

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