Necessary and sufficient conditions for mean‐square bounded consensus of multiagent systems with additive noise

Abstract

Motivated from the mean‐square bounded consensus (MSBD) problem of multiagent systems (MASs) with additive noise, this paper studies the joint influence of the agent dynamic structure and communication topology on the consensus. The necessary condition of MSBD is given under the output‐based consensus protocol, which is also sufficient under some mild conditions. Furthermore, the upper consensus bound is given via the solution of the Lyapunov equation. Finally, simulation results are provided to illustrate the theoretical results.