Consensus of Discrete-Time Multi-agent Systems with Unknown but Bounded Measurement Noises

The consensus problem for a discrete-time multi-agent system with bounded noises is studied in this paper over an undirected ring topology. A realistic noise model is considered in which the agents only know the upper bounds of the measurement noises. An estimation algorithm is presented by employing the bounds of noises to estimate the state difference between neighboring agents. Then, a consensus protocol is proposed for agents base on the estimated state difference and the convergence analysis of the consensus protocol is given by employing Lyapunov stability theorem. The effects of measurement noises on the consensus process can be reduced under the consensus protocol. Finally, numerical simulations are given to demonstrate the validity of the developed consensus protocol.