Distributed tracking control of leader-follower multi-agent systems under noisy measurement

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)1382-1387
Journal / PublicationAutomatica
Volume46
Issue number8
Publication statusPublished - Aug 2010

Abstract

In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower can only measure the relative positions of its neighbors in a noisy environment, including the relative position of the second-order active leader. A neighbor-based tracking protocol together with distributed estimators is designed based on a novel velocity decomposition technique. It is shown that the closed loop tracking control system is stochastically stable in mean square and the estimation errors converge to zero in mean square as well. A simulation example is finally given to illustrate the performance of the proposed control scheme. © 2010 Elsevier Ltd. All rights reserved.

Research Area(s)

  • Leaderfollower, Multi-agent systems, State estimation, Stochastic noises, Velocity decomposition