Dynamic behavior analysis on SISO multi-agent systems in a noisy environment

This paper studies the output consensus problem of single-input single-output (SISO) multi-agent systems. It is assumed that the multi-agent system works in a noisy environment (state noises, measurement noises and communication noises). A dynamic output-feedback based protocol is proposed to solve the stochastic output consensus problem in this setting. It is proved that the mathematical expectations of relative outputs between agents are convergent to zero, and the second-order moments of relative outputs between agents are uniformly bounded. Finally, some simulation examples are presented to demonstrate this phenomenon.