Necessary and Sufficient Conditions for Leader-Following Bipartite Consensus With Measurement Noise

被引：90

作者：

Ma, Cui-Qin ^{[1
,2
]}

Xie, Lihua ^{[2
]}

机构：

[1] Qufu Normal Univ, Sch Math Sci, Qufu 273165, Shandong, Peoples R China

[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2020年 / 50卷 / 05期

基金：

中国国家自然科学基金; 新加坡国家研究基金会;

关键词：

Bipartite consensus; leader-following; measurement noise; multiagent systems (MASs); signed digraph; structural balance; MULTIAGENT SYSTEMS; COORDINATION; NETWORKS; AGENTS;

D O I：

10.1109/TSMC.2018.2819703

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers leader-following bipartite consensus of single-integrator multiagent systems in the presence of measurement noise. To attenuate the noise, a time-varying consensus gain q(t) is introduced into the stochastic approximation-type protocol. Necessary and sufficient conditions for ensuring a strong mean square leader-following bipartite consensus are given. In particular, in the absence of measurement noise, the convergence speed of error dynamics is dependent on the eigen-values of Laplacian and the rate of integral(t)(0)q(s)ds approaching infinity.By appropriately choosing q(t), the speed of leader-following bipartite consensus convergence can be improved in a fixed communication topology. It is proven that conditions for the signed digraph to be structurally balanced and having a spanning tree are necessary and sufficient to ensure leader-following bipartite consensus, regardless of measurement noise.

引用

页码：1976 / 1981

页数：6

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