Mean Square Consensus of General Linear Multiagent Systems with Communication Noises under Switching Topologies

This paper investigates the distributed consensus problem of general linear multiagent systems (MASs) with communication noises under fixed and Markovian switching topologies, respectively. Each agent can obtain full state of itself and receive its neighbors' state with noises, where intensities of noises are vector functions of relative states of agents. Bearing in mind the above constrains, a consensus protocol is proposed, where the gain matrix is obtained by the algebraic Riccati equation and the coupling strength is restricted in a given interval. By using the stochastic stability theorem, we show that mean square consensus is achieved in fixed topology case and switching topologies case, respectively. Furthermore, an estimation of the exponential convergence rate of consensus is given explicitly. Finally, simulation examples are given to show the correctness of the proposed results.