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

By Jiangping Hu, Gang Feng. 2011

490 citations recorded by the source corpus.

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 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.

Subfields: Computer Networks and Communications, Control and Systems Engineering

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Computer Networks and Communications

1. Wenwu Yu
2. Guanrong Chen
3. Wei Ren
4. Yongcan Cao
5. Frank L. Lewis
6. Jinde Cao
7. Z. Duan
8. Guanghui Wen

In Control and Systems Engineering

1. Guanrong Chen
2. Wenwu Yu
3. Yongcan Cao
4. Wei Ren
5. Z. Duan
6. Long Wang
7. Guanghui Wen
8. Zhongkui Li

Citations in the corpus

• An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination (2012, background): “Formation control with a group reference was studied in both linear systems [ 207]–[209] and nonlinear”