Towards Lag Consensus with Noisy Digital Twins Perception in Second-order Multi-agent Cyber-physical Systems

TL;DR

This paper develops a robust lag consensus protocol for second-order multi-agent cyber-physical systems with noisy perceptions and input failures, ensuring stability through Lyapunov analysis.

Contribution

It introduces a new lag consensus protocol with stability conditions for systems affected by noise and failures, validated by numerical examples.

Findings

Proposed a lag consensus protocol resilient to noise and input failures.

Derived stability conditions using Lyapunov analysis and Itô calculus.

Numerical simulations confirm the protocol's effectiveness.

Abstract

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 It\^o formula, ensuring robustness to random perturbations and intermittent input failures. Numerical examples illustrate the effectiveness of the proposed method.