Robust consensus of multi-agent systems with noise  

作　　者：WANG Lin LIU ZhiXin 

机构地区：[1]Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China

出　　处：《Science in China(Series F)》2009年第5期824-834,共11页中国科学（F辑英文版）

基　　金：Supported by the National Natural Science Foundation of China (Grant Nos. 60821091, 60804043, 60574068);the Knowledge Innovation Project of Chinese Academy of Sciences (Grant No. KJCX3-SYW-S01)

摘　　要：The consensus problem of multi-agent systems has attracted wide attention from researchers in recent years, following the initial work of Jadbabaie et al. on the analysis of a simplified Vicsek model. While the original Vicsek model contains noise effects, almost all the existing theoretical results on consensus problem, however, do not take the noise effects into account. The purpose of this paper is to initiate a study of the consensus problems under noise disturbances. First, the class of multi-agent systems under study is transformed into a general time-varying system with noise. Then, for such a system, the equivalent relationships are established among （i） robust consensus, （ii） the positivity of the second smallest eigenvalue of a weighted Laplacian matrix, and （iii） the joint connectivity of the associated dynamical neighbor graphs. Finally, this basic equivalence result is shown to be applicable to several classes of concrete multi-agent models with noise.The consensus problem of multi-agent systems has attracted wide attention from researchers in recent years, following the initial work of Jadbabaie et al. on the analysis of a simplified Vicsek model. While the original Vicsek model contains noise effects, almost all the existing theoretical results on consensus problem, however, do not take the noise effects into account. The purpose of this paper is to initiate a study of the consensus problems under noise disturbances. First, the class of multi-agent systems under study is transformed into a general time-varying system with noise. Then, for such a system, the equivalent relationships are established among （i） robust consensus, （ii） the positivity of the second smallest eigenvalue of a weighted Laplacian matrix, and （iii） the joint connectivity of the associated dynamical neighbor graphs. Finally, this basic equivalence result is shown to be applicable to several classes of concrete multi-agent models with noise.

关 键 词：time-varying systems stochastic matrix robust consensus CONNECTIVITY exponential stability Vicsek model 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TN912.3[自动化与计算机技术—控制科学与工程]