Stochastic Consensus of Single-Integrator Multiagent Systems with Inherent Nonlinear Dynamics and Measurement Noises in Directed Fixed TopologiesReport as inadecuate




Stochastic Consensus of Single-Integrator Multiagent Systems with Inherent Nonlinear Dynamics and Measurement Noises in Directed Fixed Topologies - Download this document for free, or read online. Document in PDF available to download.

Mathematical Problems in Engineering - Volume 2014 2014, Article ID 487850, 11 pages -

Research ArticleSchool of Automation, Beijing Institute of Technology, Hai Dian District, Beijing 100081, China

Received 27 July 2014; Accepted 18 November 2014; Published 7 December 2014

Academic Editor: Ramachandran Raja

Copyright © 2014 Sabir Djaidja and Qinghe Wu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Consensus of continuous-time single-integrator multiagent systems with inherent nonlinear dynamics and measurement noises is addressed in this paper. The consensus controller is developed for directed interaction topologies. Each agent’s control input is constructed based on its own state and its neighbors’ states corrupted by noises. The control input contains a time-varying consensus gain in order to attenuate the noises. Conditions for ensuring mean square convergence under noisy measurement and asymptotic convergence in the noise-free case are derived. Finally, some simulations were carried out to show the effectiveness of our control law and how it can solve the consensus problem.





Author: Sabir Djaidja and Qinghe Wu

Source: https://www.hindawi.com/



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