A note to robustness analysis of the hybrid consensus protocols

The averaging problem for networked systems has attracted a significant amount of research interest these days. Averaging protocol design is much more challenging, whereas hybrid protocols seem to display some advantages, such as relatively fast consensus in finite time. As is well known, noise exists at nearly every stage of the control process, so it is necessary to consider the noise effects on consensus protocols. In this paper, we study the effect of noise on two types of hybrid consensus protocols, which turn out to exhibit strong robustness. Noise as a constant is investigated in detail, and a hybrid formation control protocol is proposed.