On Convergence Rate of Leader-Following Consensus of Linear Multi-Agent Systems With Communication Noises
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Abstract: This note further studies the previously proposed consensus protocol for linear multi-agent systems with communication noises in [15], [16]. Each agent is allowed to have its own time-varying gain to attenuate the effect of communication noises. Therefore, the common assumption in most references that all agents have the same noise-attenuation gain is not necessary. It has been proved that if all noise-attenuation gains are infinitesimal of the same order, then the mean square leader-following consensus can be reached. Furthermore, the convergence rate of the multi-agent system has been investigated. If the noise-attenuation gains belong to a class of functions which are bounded above and below by asymptotically, then the states of all follower agents are convergent in mean square to the leader's state with the rate characterized by a function bounded above by asymptotically.
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