Convergence time and speed of multi-agent systems in noisy environments.

In this paper, the finite-time consensus problem of noise-perturbed multi-agent systems with fixed and switching undirected topologies is investigated. A continuous non-Lipschitz protocol for realizing stochastic consensus in a finite time is proposed. Based on the finite-time stability theory of stochastic differential equations, sufficient conditions are obtained to ensure finite-time stochastic consensus of multi-agent systems. An analytical upper bound for the convergence time is given. The effects of control parameters and noise intensity on convergence speed and time are also analyzed. Furthermore, numerical examples are provided to illustrate the effectiveness of the theoretical results.

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