Noisy Information Based Formation Control of Multi-Agent Systems in Time-Varying Communication Networks

This paper studies the formation control problem of discrete-time multi-agent systems with noisy information in time-varying communication networks. To achieve the desired formation, a control law with a decaying-gain is designed. Under the zero-expectation and independent noise assumption on the communication noise, we give the rigorous proof that the desired formation can be asymptotically stabilized in the mean square and almost sure sense under the designed distributed control law when the time-varying communication network is composed of strongly connected digraphs. In addition, the mean square convergence rate is quantified. Simulations are conducted to verify the correctness of our result.