Aperiodically Intermittent Discrete-Time State Observation Noise for Consensus of Multiagent Systems

Abstract

A new consensus protocol with aperiodically intermittent discrete-time state observation noise (AIDSON) is introduced. With the help of the proposed AIDSON, the almost sure exponential consensus (ASEC) of multiagent systems is investigated. Through the Lyapunov method and stochastic comparison principle, some sufficient conditions can be obtained. Moreover, the upper bounds of the rest rate of intermittent communication noise and the duration between two consecutive observations are estimated. Additionally, the larger the noise intensity is, the faster multiagent systems reach the ASEC. Furthermore, the established results are applied to the consensus analysis of single-link robot arms and oscillators and some simulations are presented.