Tracking Consensus for Second-Order Multi-Agent Systems with Nonlinear Dynamics in Noisy Environments
Xiaoqing Lu, Shihua Chen · Communications in Theoretical Physics · 2013
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.