Robust Consensus of Multi-Agent Systems with Stochastic Uncertain   Channels

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	Robust Consensus of Multi-Agent Systems with Stochastic Uncertain Channels
	Li, Zhongkui ; Chen, Jie
	2016
关键词	MEASUREMENT NOISES AVERAGE CONSENSUS FEEDBACK-CONTROL STABILIZATION COMMUNICATION CONSTRAINTS
英文摘要	In this paper, we study the robust consensus problem of a network of general discrete-time linear agents coordinating through unreliable communication channels. Two neighboring agents exchange information via a communication channel, which is modeled in this paper as an ideal transmission system subject to a multiplicative stochastic uncertainty. This uncertain channel model includes the commonly studied logarithmic quantizers and the stochastic packet dropout as special cases. For multi-agent systems with undirected connected graphs and stochastic uncertain communication channels, we derive a sufficient condition to guarantee robust consensus in the mean square sense, which unveils the fundamental limitation posed by the synchronizability factor, the topological entropy of the agents, and the mean square channel capacity. The consensus protocol based on uncertain relative state information is then designed, using the modified algebraic Riccati equation. We also consider the case where the agents are perturbed by uncertainties in the input channels. The relations between the uncertain input and communication channel models are discussed.; National Natural Science Foundation of China [61473005, 11332001, 61225013]; Hong Kong RGC [CityU 111613, CityU 11200415]; CPCI-S(ISTP); zhongkli@pku.edu.cn; jichen@cityu.edu.hk; 3722-3727
会议录	American Control Conference (ACC)
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/459619]
专题	工学院
推荐引用方式 GB/T 7714	Li, Zhongkui,Chen, Jie. Robust Consensus of Multi-Agent Systems with Stochastic Uncertain Channels[C]. 见:.