Distributed constrained consensus for discrete multi-agent systems with additive noises

Abstract

In this paper, we investigate the constrained consensus problem for discrete multi-agent systems subject to additive noises. Each agent can only receive relative state measurements corrupted by noises from its neighbours. Two control protocols are designed under some mild assumptions of the noises and the structure of the network. The first protocol is designed with constant control gain, and the constrained consensus error bound is obtained. Asymptotic constrained consensus can be further achieved under the second control protocol in which case time-varying gains are adopted. Finally, two numerical examples are given to illustrate the effectiveness of our results.

Keywords:

• Multi-agent systems (MASs)
• distributed consensus
• additive noise
• convex constraint

Acknowledgments

The authors would like to express our gratitude to all those who helped us during the writing of this thesis. We gratefully acknowledge the help of Professor Huanshui Zhang, who contributed and extended his valuable assistance from the preparation to completion of this study. We would like to thank the editors and reviewers for their comments and constructive suggestions, which help us to greatly improve the paper.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the National Natural Science Foundation of China under Grants 61821004, 61733010 and Natural Science Foundation of Shandong Province, China ZR2018MF021.