Abstract:
The consensus problem is considered for a team of second-order mobile agents communicating via a network with noise, variable delays and occasional packet losses. A queui...Show MoreMetadata
Abstract:
The consensus problem is considered for a team of second-order mobile agents communicating via a network with noise, variable delays and occasional packet losses. A queuing mechanism is applied and the switching process of the interaction topology of the network is modeled as a Bernoulli random process. In such a framework, a necessary and sufficient condition is presented for the mean-square robust consensus. Moreover, a necessary and sufficient condition of the solvability of the mean-square robust consensus problem is established. An approach to designing consensus protocol is proposed and numerical examples are given to illustrate the results.
Published in: IEEE Transactions on Automatic Control ( Volume: 55, Issue: 4, April 2010)