Leader-following consensus of multi-agent system in noisy environment

In this paper, the leader-following consensus of multi-agent system in noisy environment under fixed and switching topology is investigated. Based on the optimal regulator, a distributed consensus controller is designed, using the stochastic analysis and algebraic graph theory, a sufficient condition that under which the consensus error (disagreement vector) can be exponentially stable in mean square with the perturbation of noise in environment is obtained. Moreover the result is extended to switching topology case. Numerical examples are provided in this paper to illustrate the effectiveness of the proposed consensus controller.