Mean Square Output Consensus Control of Heterogeneous Multi-Agent Systems With Multiplicative Measurement Noises

We study mean square output consensus control of heterogeneous multi-agent systems with multiplicative measurement noises. Each agent has a continuous-time linear heterogeneous dynamics with incomplete measurable state, and there are multiplicative noises along with information exchange among agents. We propose distributed cooperative control laws based on distributed observers and the certainty equivalence principle. By output regulation theory and stochastic analysis, we show that if the dynamics of agents are stabilizable and detectable and the communication graph is connected, then the proposed cooperative control law can ensure mean square output consensus. Finally, the effectiveness of our control laws is demonstrated by a numerical simulation for frequency synchronization of a micro-grid.