Consensus protocols for multi-agent systems with delays and noises in transmission channels

This paper studies the consensus problem for linear discrete-time multi-agent systems with delays and noises in transmission channels. The decaying weights of the consensus protocol satisfying persistence condition are applied to attenuate the effect of the noises so as to achieve the consensus. Necessary and sufficient conditions for strong consensus is given under fixed topology. A numerical example is given to demonstrate the effectiveness of the results.

I. INTRODUCTION

The consensus problem for multi-agent systems has attracted more and more attentions in recent years [1], [2], [3], [4], [5], [6], [7]. The problem is widely encountered in the real world, for example, in distributed computation, flocking, traffic control, networked control, formation flight, etc.