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

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.