具有噪声与时延的多个体系统的鲁棒一致性

针对一般的有向非平衡网络，研究了当测量噪声与通信时延共存时的单积分多个体系统的鲁棒一致性问题。通过在随机逼近一致性协议中引入时变控制增益来抑制测量噪声，并利用不等式放缩和数学归纳法证明了只要网络中通信时延有上界，多个体系统能够实现均方一致性，最终的一致性值收敛到一个随机变量。最后通过仿真算例验证了所得的结论。

Robust Consensus for Multi-agent Systems with Noises and Delays

The consensus for single -integer multi-agent systems with measurement noises and communication delays with general directed unbalanced topologies was studied .The time-varying control gains of the stochastic approximation consensus protocol were used to attenuate measurement noises .The fact that when the communica-tion delays are bounded the multi -agent system achieves mean square consensus and the state of each agent con-verges to a common random variable was proved by using inequalities and mathematical induction .An example was given to verify the main conclusions .