TY - GEN
T1 - Stochastic consentability of continuous-time multi-agent systems with relative-state-dependent measurement noises
AU - Li, Tao
AU - Wu, Fuke
AU - Zhang, Ji Feng
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/3/2
Y1 - 2015/3/2
N2 - In this paper, we consider the distributed consensus of high-dimensional first-order agents with relative-state-dependent measurement noises. Each agent can measure or receive its neighbors' state information with random noises, whose intensity is a nonlinear vector function of agents' relative states. For this kind of multi-agent networks, it is a prominent feature that the dynamics associated with the network uncertainties interact with the dynamics of agents' states in a distributed information architecture. By investigating the structure of this interaction and the tools of stochastic differential equations, we develop some small consensus gain theorems to give sufficient conditions to ensure mean square and almost sure consensus, based on which we prove that the connectivity of the network is the necessary and sufficient condition for the existence of control gain matrices to achieve asymptotically unbiased mean square average-consensus.
AB - In this paper, we consider the distributed consensus of high-dimensional first-order agents with relative-state-dependent measurement noises. Each agent can measure or receive its neighbors' state information with random noises, whose intensity is a nonlinear vector function of agents' relative states. For this kind of multi-agent networks, it is a prominent feature that the dynamics associated with the network uncertainties interact with the dynamics of agents' states in a distributed information architecture. By investigating the structure of this interaction and the tools of stochastic differential equations, we develop some small consensus gain theorems to give sufficient conditions to ensure mean square and almost sure consensus, based on which we prove that the connectivity of the network is the necessary and sufficient condition for the existence of control gain matrices to achieve asymptotically unbiased mean square average-consensus.
UR - https://www.scopus.com/pages/publications/84932135618
U2 - 10.1109/WCICA.2014.7053295
DO - 10.1109/WCICA.2014.7053295
M3 - 会议稿件
AN - SCOPUS:84932135618
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3487
EP - 3492
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -