Distributed tracking control of second-order multi-agent systems under measurement noises

• Main Authors: Liu, Xueliang, Xu, Bugong, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Electronic systems
• Online Access: https://hdl.handle.net/10356/106019; http://hdl.handle.net/10220/26114; http://dx.doi.org/10.1007/s11424-014-1070-z
• Institution: Nanyang Technological University

This paper considers a leader-following tracking control problem for second-order multiagent systems (MASs) under measurement noises and directed communication channels. It is assumed that each follower-agent can measure the relative positions and velocities of its neighbors in a noisy environment. Based on a novel velocity decomposition technique, a neighbor-based control law is designed to realize local control strategies for these continuous-time agents. It is shown that the proposed consensus protocol can guarantee that all the follower-agents track the active leader. In addition, this result is extended to a more general case with switching topologies. Finally, a numerical example is given for illustration.