Towards Lag Consensus with Noisy Digital Twins Perception in Second-order Multi-agent Cyber-physical Systems
For researchers in multi-agent systems and cyber-physical networks, this work provides a theoretical framework for consensus under realistic noise and failure conditions, though it is an incremental extension of existing consensus theory.
This paper tackles lag consensus in second-order multi-agent cyber-physical systems with noisy digital twin perceptions and input failures. It proposes a protocol and derives sufficient conditions for mean-square exponential stability, validated by numerical examples.
In this paper, we study second-order lag consensus in multi-agent cyber-physical networks subject to random noise and input failures, within a framework modeling the interactions and perceptions between physical twins and digital twins. We propose a lag consensus protocol and establish sufficient conditions for the mean-square (exponential) stability of the resulting stochastic lag error dynamics. The consensus criteria are derived via Lyapunov analysis using the Itô formula, ensuring robustness to random perturbations and intermittent input failures. Numerical examples illustrate the effectiveness of the proposed method.