Necessary and sufficient conditions for leader-following bipartite consensus with measurement noise
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 en...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/139971 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | 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 eigenvalues of Laplacian and the rate of ∫ 0 t 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. |
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