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Distributed mean-square consensus of heterogeneous multi-agent systems with packet losses
  • Liping Zhang,
  • Wei Wang,
  • Huanshui Zhang
Liping Zhang
Shandong University of Science and Technology
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Wei Wang
Shandong University
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Huanshui Zhang
Shandong University of Science and Technology

Corresponding Author:[email protected]

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In this paper, we studies studies the mean-square consensus problem for discrete-time heterogeneous multi-agent systems, where the state information is received with varying dropout uncertainty, which leads to heterogeneous observations. Different from previous consensus studies do not consider the effects of measurement packet dropout, the main challenge addressed in this paper is the design of the state estimator and the controller for each agent with different dynamics subject to multiplicative noise. First, the optimal estimator is designed based on the measurement value to estimate the agent's state, and a distributed dynamic output feedback control protocol is presented based on the given estimator. Second, applying the distributed feedforward control method and constructing the stochastic Lyapunov-Krasovskii functional, the sufficient solvability conditions for achieving mean-square consensus in heterogeneous multi-agent systems is derived for the first time. Moreover, the stability of the error covariance matrices related to the optimal estimator is also studied. Finally, the effectiveness of the proposed scheme is verified via a numerical example.