ROBUST CONSENSUS AND SOFT CONTROL OF MULTI-AGENT SYSTEMS WITH NOISES

This paper considers the problem of robust consensus for a basic class of multi-agentsystems with bounded disturbances and with directed information flow.A necessary and sufficientcondition on the robust consensus is first presented,which is then applied to the analysis,controland decision making problems in the noise environments.In particular,the authors show how a softcontrol technique will synchronize a group of autonomous mobile agents without changing the existinglocal rule of interactions,and without assuming any kind of connectivity conditions on the systemtrajectories.