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Necessary and Sufficient Conditions for Leader-Following Bipartite Consensus With Measurement Noise.
- Source :
- IEEE Transactions on Systems, Man & Cybernetics. Systems; May2020, Vol. 50 Issue 5, p1976-1981, 6p
- Publication Year :
- 2020
-
Abstract
- This paper considers leader-following bipartite consensus of single-integrator multiagent systems in the presence of measurement noise. To attenuate the noise, a time-varying consensus gain ${q}$ (${t}$) is introduced into the stochastic approximation-type protocol. Necessary and sufficient conditions for ensuring a strong mean square leader-following bipartite consensus are given. In particular, in the absence of measurement noise, the convergence speed of error dynamics is dependent on the eigenvalues of Laplacian and the rate of ${\int ^{{t}}_{0}{q}({s})\text {d}{s}}$ approaching infinity. By appropriately choosing ${q}$ (${t}$), the speed of leader-following bipartite consensus convergence can be improved in a fixed communication topology. It is proven that conditions for the signed digraph to be structurally balanced and having a spanning tree are necessary and sufficient to ensure leader-following bipartite consensus, regardless of measurement noise. [ABSTRACT FROM AUTHOR]
- Subjects :
- NOISE measurement
MULTIAGENT systems
SPANNING trees
EIGENVALUES
Subjects
Details
- Language :
- English
- ISSN :
- 21682216
- Volume :
- 50
- Issue :
- 5
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Systems, Man & Cybernetics. Systems
- Publication Type :
- Academic Journal
- Accession number :
- 142797810
- Full Text :
- https://doi.org/10.1109/TSMC.2018.2819703