Consensus Conditions of Multi-Agent Systems With Time-Varying Topologies and Stochastic Communication Noises

doi:10.1109/TAC.2010.2042982

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	Consensus Conditions of Multi-Agent Systems With Time-Varying Topologies and Stochastic Communication Noises
	Li, Tao; Zhang, Ji-Feng
	2010-09-01
发表期刊	IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN	0018-9286
卷号	55 期号:9 页码:2043-2057
摘要	This paper investigates the average-consensus problem of first-order discrete-time multi-agent networks in uncertain communication environments. Each agent can only use its own and neighbors' information to design its control input. To attenuate the communication noises, a distributed stochastic approximation type protocol is used. By using probability limit theory and algebraic graph theory, consensus conditions for this kind of protocols are obtained: (A) For the case of fixed topologies, a necessary and sufficient condition for mean square average-consensus is given, which is also sufficient for almost sure consensus. (B) For the case of time-varying topologies, sufficient conditions for mean square average-consensus and almost sure consensus are given, respectively. Especially, if the network switches between jointly-containing-spanning-tree, instantaneously balanced graphs, then the designed protocol can guarantee that each individual state converges, both almost surely and in mean square, to a common random variable, whose expectation is right the average of the initial states of the whole system, and whose variance describes the static maximum mean square error between each individual state and the average of the initial states of the whole system.
关键词	Average-consensus distributed coordination distributed estimation multi-agent systems stochastic systems
DOI	10.1109/TAC.2010.2042982
语种	英语
资助项目	National Natural Science Foundation of China[60934006] ; National Natural Science Foundation of China[60821091] ; Chinese National Laboratory of Space Intelligent Control
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000283247500005
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/9589
专题	系统科学研究所
通讯作者	Li, Tao
作者单位	Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Tao,Zhang, Ji-Feng. Consensus Conditions of Multi-Agent Systems With Time-Varying Topologies and Stochastic Communication Noises[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2010,55(9):2043-2057.
APA	Li, Tao,&Zhang, Ji-Feng.(2010).Consensus Conditions of Multi-Agent Systems With Time-Varying Topologies and Stochastic Communication Noises.IEEE TRANSACTIONS ON AUTOMATIC CONTROL,55(9),2043-2057.
MLA	Li, Tao,et al."Consensus Conditions of Multi-Agent Systems With Time-Varying Topologies and Stochastic Communication Noises".IEEE TRANSACTIONS ON AUTOMATIC CONTROL 55.9(2010):2043-2057.