Time-varying formation tracking control of high-order multi-agent systems with multiple leaders and multiplicative noise  

作　　者：Ruru JIA Xiaofeng ZONG Qing WANG 

机构地区：[1]College of Artificial Intelligence,Nankai University,Tianjin 300350,China [2]School of Automation,China University of Geosciences,Wuhan 430074,China [3]Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems,Wuhan 430074,China [4]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

出　　处：《Science China(Information Sciences)》2024年第12期187-203,共17页中国科学(信息科学)(英文版)

基　　金：supported by National Natural Science Foundation of China (Grant No.62473347)。

摘　　要：This work discusses the time-varying formation(TVF) tracking control problem of high-order multi-agent systems(MASs) with multiple leaders and multiplicative measurement noise. With the help of Lyapunov function tools and stochastic analysis methods, the TVF tracking protocol with multiple leaders and multiplicative noise is developed based on the relative state measurements, where followers are driven to realize the target TVF while tracking the convex combination formed by multiple leaders. Then, the TVF tracking problem is converted into the mean square asymptotic stability problem of a stochastic differential equation(SDE);sufficient conditions related to the control gains are given by stabilizing the corresponding stochastic system. Moreover, a TVF tracking algorithm is presented to outline the steps of protocol design.Finally, the theoretical results are illustrated in terms of simulation examples.

关 键 词：multi-agent systems multiple leaders multiplicative measurement noise stochastic differential equation formation tracking control 

分 类 号：O17[理学—数学]