Bipartite Consensus of Discrete-Time Double-Integrator Multi-Agent Systems with Measurement Noise |
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Authors: | Cuiqin Ma Weiwei Zhao Yunbo Zhao |
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Affiliation: | 1.School of Mathematical Sciences,Qufu Normal University,Qufu,China;2.No. 1 Senior Middle School of Qufu,Qufu,China;3.College of Information Engineering,Zhejiang University of Technology,Hangzhou,China |
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Abstract: | The effects of measurement noise are investigated in the context of bipartite consensus of multi-agent systems. In the system setting, discrete-time double-integrator dynamics are assumed for the agent, and measurement noise is present for the agent receiving the state information from its neighbors. Time-varying stochastic bipartite consensus protocols are designed in order to lessen the harmful effects of the noise. Consequently, the state transition matrix of the closed-loop system is analyzed, and sufficient and necessary conditions for the proposed protocol to be a mean square bipartite consensus protocol are given with the help of linear transformation and algebraic graph theory. It is proven that the signed digraph to be structurally balanced and having a spanning tree are the weakest communication assumptions for ensuring bipartite consensus. In particular, the proposed protocol is a mean square bipartite average consensus one if the signed digraph is also weight balanced. |
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