Containment consensus with measurement noises and time-varying communication delays  

作　　者：周峰 王正杰 范宁军 

机构地区：[1]School of Electromechanical Engineering,Beijing Institute of Technology

出　　处：《Chinese Physics B》2015年第2期23-29,共7页中国物理B（英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.11102019);the Aeronautical Science Foundation of China(Grant No.2013ZC72006);the Research Foundation of Beijing Institute of Technology,China

摘　　要：In this paper,we consider the containment consensus control problem for multi-agent systems with measurement noises and time-varying communication delays under directed networks.By using stochastic analysis tools and algebraic graph theory,we prove that the followers can converge to the convex hull spanned by the leaders in the sense of mean square if the allowed upper bound of the time-varying delays satisfies a certain sufficient condition.Moreover,the time-varying delays are asymmetric for each follower agent,and the time-delay-dependent consensus condition is derived.Finally,numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.In this paper,we consider the containment consensus control problem for multi-agent systems with measurement noises and time-varying communication delays under directed networks.By using stochastic analysis tools and algebraic graph theory,we prove that the followers can converge to the convex hull spanned by the leaders in the sense of mean square if the allowed upper bound of the time-varying delays satisfies a certain sufficient condition.Moreover,the time-varying delays are asymmetric for each follower agent,and the time-delay-dependent consensus condition is derived.Finally,numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.

关 键 词：multi-agent systems containment consensus noise communication delays 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]