Stochastic consensus of double-integrator leader-following multi-agent systems with measurement noises and time delays

ABSTRACT

This paper studies a leader-following consensus problem of continuous-time double-integrator multi-agent systems with measurement noises and time-varying communication delays under directed topology. By utilising the neighbour position and velocity information, which are delayed and disturbed by measurement noises whose intensities are considered a function related to the neighbour position and velocity of agents, a distributed consensus protocol is presented, sufficient conditions of the tracking consensus in the sense of mean square are derived. Finally, the effectiveness of the proposed consensus protocol is proved by some simulations.

KEYWORDS:

• Multi-agent system
• measurement noises
• time delays
• mean square consensus
• Halanay inequality

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by National Nature Science Foundation of China [grant numbers 61573013].

Notes on contributors

Rui Zhou

Rui Zhou graduated from Baoji University of Arts and Sciences, China in 2016. She is currently a MSc candidate at School of Mathematics and Statistics, Xidian University. Her research interests include stochastic Systems, consensus control of MAS.

Junmin Li

Junmin Li graduated from Xidian University, China in 1987. He received the MSc degree from Xidian University in 1990 and the PhD degree from the Xi'an Jiao Tong University, China in 1997. He is currently a professor at Department of Applied Mathematics, Xidian University. His research interests include adaptive control, learning control of MAS, hybrid system control theory and the networked control systems, etc.