Observer-based robust consensus control for multi-agent systems with noises

This study deals with the problem of consensus error calculation for linear multi-agent systems (MASs) with system noises and measurement noises. It is supposed that there exist communication noises when the information exchanges among distinct agents. The agents cannot reach consensus due to the existence of the system noises. We aim to design proper distributed control protocol to calculate the consensus error for the MASs. The states of each agent and its neighbors are estimated by applying Kalman-filtering theory. The distributed control protocol is designed by employing the estimated state information. Then the consensus error is calculated via the unique solution of a Lyapunov equation. Finally, a simulation example is presented to verify the correctness of the proposed results.