中文摘要：

一致性问题是多智能体协同控制的基础,有广泛的应用背景。之前的研究已经给出了线性一致性协议实现均方一致的充分条件,在此基础上,对线性离散均方一致性问题进行了更加深入的讨论,以图论和随机分析为基础,进一步给出并严格证明线性离散均方一致性问题噪声偏差的上界,同时以4种不同的网络拓扑为例,对所提理论结果进行了说明。结论将为线性离散一致性系统的噪声估计和控制提供理论依据。

英文摘要：

The consistency problem is the basis of cooperative control of multi-agents, and has wide application back- ground. The previous research has given the sufficient condition for the linear consistency protocol to realize mean-square consistency problem. Based on graph theory and random analysis, the noise-deviation upper bound of linear discrete mean-square consistency problem was strictly proved further, at the same time, four different network were used as examples to explain the theoretical results. The conclusion provides theoretical basis for the noise evaluation and con- trol of the linear discrete consistency system.