Asymptotically Unbiased Average Consensus under Measurement Noises and Fixed Topologies
نویسنده
چکیده
This paper is concerned with average-consensus control under directed topologies and random measurement noises. To attenuate the measurement noises, time-varying consensus gains are introduced in the protocol. It is shown that under the protocol designed, all agents’ states converge to a common Gaussian random variable, whose mathematical expectation is just the average of the initial states, and the mean square static error vanishes as the number of agents increases to infinity under certain topologies. In addition, for the noise-free case, necessary and sufficient conditions are given on the network topology and consensus gains to achieve average-consensus; and for the noisy measurement case, by combining algebraic graph theory and stochastic analysis, necessary and sufficient conditions are given on the consensus gains to achieve asymptotically unbiased mean square average-consensus.
منابع مشابه
Consensus Conditions of Continuous-Time Multi-Agent Systems with Additive and Multiplicative Measurement Noises
This work is concerned with 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 nois...
متن کاملLeader-following Consensus Problems with a Time-varying Leader under Measurement Noises
In this paper, we consider a leader-following consensus problem for networks of continuous-time integrator agents with a time-varying leader under measurement noises. We propose a neighbor-based state-estimation protocol for every agent to track the leader, and time-varying consensus gains are introduced to attenuate the noises. By combining the tools of stochastic analysis and algebraic graph ...
متن کاملConsensus of Multiagent Systems with Sampled Information and Noisy Measurements
We consider consensus problems of first-order multiagent systems with sampled information and noisy measurements. A distributed stochastic approximation type algorithm is employed to attenuate the measurement noises. We provide conditions under which almost sure strong consensus is guaranteed for fixed and switching directed network topologies. Simulation results are provided to illustrate the ...
متن کاملConsensus control for leader-following multi-agent systems with measurement noises
This work is concerned with consensus control for a class of leader-following multi-agent systems (MASs). The information that each agent received is corrupted by measurement noises. To reduce the impact of noises on consensus, time-varying consensus gains are adopted, based on which consensus protocols are designed. By using the tools of stochastic analysis and algebraic graph theory, a suffic...
متن کاملFixed-time consensus of multiple double-integrator systems under directed topologies: A motion-planning approach
This paper investigates the fixed-time consensus problem under directed topologies. By using a motion-planning approach, a class of distributed fixed-time algorithms are developed for a multi-agent system with double-integrator dynamics. In the context of the fixed-time consensus, we focus on both directed fixed and switching topologies. Under the directed fixed topology, a novel class of distr...
متن کامل