Consensus for networks with unknown but bounded disturbances

We consider stationary consensus protocols for networks of dynamicagents. The measure of the neighbors' state is affected by unknownbut bounded disturbances. Here the main contribution is theformulation and solution of what we call the epsilon-consensusproblem, where the states are required to converge in a target setof radius epsilon asymptotically or in finite time. Weintroduce as a solution a dead-zone policy that we denote as lazy policy.