pth moment consensus of multi-agent systems with relative state-dependent measurement noises and time delays

This study investigates the distributed consensus control problem of multi-agent systems impacted by the combined uncertainty of measurement noises and communication delays under directed fixed topology. Each agent can only obtain the state information of its own and neighbours, which is delayed and interfered by measurement noises. The intensity of the noise is considered as a function related to the relative state of the agent. Under general networks with directed fixed topology, a distributed consensus protocol is proposed to obtain the pth moment linear gamma-consensus of the multi-agent system. The sufficient condition for the consensus of the multi-agent system is derived under the arbitrary upper bound of the time-delay, in which both relative state-dependent measurement noises and time-varying time delays are taken into account. The effectiveness of the proposed consensus protocol is shown by some simulations.