标题： 具有噪声测量的领导者-跟随者多智能体系统的分布式跟踪控制 显示英文标题

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

摘要： 在本文中，针对具有测量噪声和有向互联拓扑的领导者-跟随者多智能体系统，开发了一种具有分布式估计器的分布式跟踪控制方案。 假设每个跟随者只能在噪声环境中测量其邻居的相对位置，包括二阶主动领导者的相对位置。 基于一种新颖的速度分解技术，设计了一个基于邻居的跟踪协议以及分布式估计器。 结果表明，闭环跟踪控制系统在均方意义上是随机稳定的，估计误差也将在均方意义上收敛到零。 最后给出一个仿真示例来说明所提出控制方案的性能。 显示英文摘要

摘要： 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.