Mean-Square Consensus of Heterogeneous Multi-Agent Systems With Time-Varying Communication Delays and Intermittent Observations

This brief studies the consensus problem for heterogeneous multi-agent systems subject to time-varying communication delays, intermittent observations and system noises. An internal reference model for switching and directed communication topologies is constructed to generate a common signal for all agents. Different from existing literatures that design observer to estimate each agent's state, the optimal estimator in this brief is derived based on the intermittent observations. A sufficient condition is given for the mean-square consensus of the closed loop control systems. A simulation example is provided to illustrate the effectiveness of the proposed algorithm.