Tracking Consensus for Second-Order Multi-Agent Systems with Nonlinear Dynamics in Noisy Environments

摘要

This paper investigates the leader-following tracking consensus problem for second-order multi-agent systems with time delays and nonlinear dynamics in noisy environments on the conditions of fixed and switching directed topologies.Based on a novel velocity decomposition technique and stochastic analysis,a measurement-based distributed tracking control protocol is proposed,under which all agents can track the leader in mean square.Simulation results are also given to illustrate the effectiveness of the proposed protocol.