This paper investigates a leader-following consensus problem for nonlinear multi-agent systems (MASs) with measurement noises under fixed and Markovian switching topologies, respectively. Noises are considered when each agent measures the states of its neighbours, where intensities of noises are vector functions of relative states. To alleviate the utilization of communication and computation resources, a dynamic event-triggered consensus protocol is designed, where the coupling strength is restricted in a given interval. By using the stochastic stability theorem, it is shown that leader-following consensus is achieved under fixed topology, where an estimation of the convergence rate is given. Moreover, the problem is studied under switching topologies subjecting to the Markovian process, which is applicable to practical situations with a time-varying communication environment. Finally, simulation examples are given to show the correctness of the proposed results.

This paper investigates the distributed consensus problem of general linear multiagent systems (MASs) with communication noises under fixed and Markovian switching topologies, respectively. Each agent can obtain full state of itself and receive its neighbors’ state with noises, where intensities of noises are vector functions of relative states of agents. Bearing in mind the above constrains, a consensus protocol is proposed, where the gain matrix is obtained by the algebraic Riccati equation and the coupling strength is restricted in a given interval. By using the stochastic stability theorem, we show that mean square consensus is achieved in fixed topology case and switching topologies case, respectively. Furthermore, an estimation of the exponential convergence rate of consensus is given explicitly. Finally, simulation examples are given to show the correctness of the proposed results.

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