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Leader-following Consensus of Single-integrator Multi-agent Systems under Noisy and Delayed Communication

Sabir Djaidja* and Qinghe Wu
International Journal of Control, Automation, and Systems, vol. 14, no. 2, pp.357-366, 2016

Abstract : "This paper proposes a leader-following consensus control for continuous-time single-integrator multiagent systems with multiplicative measurement noises and time-delays under directed fixed topologies. Each agent in the team receives imprecise information states corrupted by noises from its neighbours and from the leader; these noises are depending on the agents’ relative states information. Moreover, the information states received are also delayed by constant or time-varying delays. An analysis framework based on graph theory and stochastic tools is followed to derive conditions under which the tracking consensus of a constant reference is achieved in mean square. The effectiveness of the proposed algorithms is proved through some simulation examples."

Keyword : Directed topologies, leader-following, multiplicative noises, single-integrator, time-delays.

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