Robust consensus of multi-agent systems under directed information exchanges

This paper considers the problem of robust consensus for a basic class of multi-agent systems with bounded disturbances and with directed information flow. A necessary and sufficient condition on the robust consensus is first presented, which is then applied to the analysis, control and decision making problems in the noise environments. In particular, we will show how a soft control technique will synchronize a group of autonomous mobile agents without changing the existing local rule of interactions, and without assuming any kind of connectivity conditions on the system trajectories.