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

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.