Consensus Disturbance Rejection of Linear Discrete-Time Multi-Agent Systems With Communication Noises

This paper studies consensus disturbance rejection problem of discrete-time multi-agent systems with communication noises. The involved agents are modeled by linear dynamics with disturbance, and are assumed to receive information corrupted by additive communication noises receiving from their neighbours. The control aim, not only is to guarantee the average state of the agents that is subject to deterministic disturbance, but also is to exclude the communication noises. In order to achieve this control aim, some disturbance observers are designed under two kinds of stochastic-approximation type control gains. By utilizing the martingale convergence theorem and some mathematical techniques, two sufficient conditions are obtained to ensure consensus and disturbance rejection in mean square. Finally, a numerical example is given to show the applicability of considered methods.