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

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...

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Bibliographic Details
Published in:Automatica (Oxford) 2010-08, Vol.46 (8), p.1382-1387
Main Authors: Hu, Jiangping, Feng, Gang
Format: Article
Language:English
Subjects:
Agents (artificial intelligence)
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Estimators
Exact sciences and technology
Expert systems
Interconnection
Leader–follower
Mean square values
Modelling and identification
Multi-agent systems
Simulation
State estimation
Stochastic noises
Tracking
Tracking control
Velocity decomposition
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Summary: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.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2010.05.020