Average Consensus Control of Multi-agent System under Binary-Valued Observations with External Disturbance and Measurement Noise

This paper addresses the average consensus problem of the discrete multi-agent system with external disturbance and measurement noise. Based on the binary-valued observations, the states of neighbor are estimated by designing the recursive projection algorithm. Different from the previous works, a robust control framework is proposed to compensate for the disturbance based on disturbance observer. Moreover, it has been proved that the mean square consensus of the system is achieved via designing the suitable step parameters, and the convergence rate is at least O(1/k°) with the influence of external disturbance. Finally, a numerical example is given to verify the effectiveness of the disturbance rejection observer and the average consensus control algorithm.