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

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Abstract

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.

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Authors and Affiliations

  1. School of Electronic Engineering, Dongguan University of Technology, Dongguan, 523808, China

    Xueliang Liu

  2. College of automation science and engineering, South China University of Technology, Guangzhou, 510640, China

    Xueliang Liu & Bugong Xu

  3. School of Electrical and Electrical Engineering, Nanyang Technological University, Nanyang Avenue, 639798, Singapore

    Lihua Xie

Authors
  1. Xueliang Liu
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  2. Bugong Xu
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  3. Lihua Xie
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Corresponding author

Correspondence to Bugong Xu.

Additional information

This research is supported by the National Natural Science Foundation of China under Grant No. 61174070 and the Specialized Research Found for the Doctoral Program under Grant No. 20110172110033.

This paper was recommended for publication by Editor HAN Jing.

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Liu, X., Xu, B. & Xie, L. Distributed tracking control of second-order multi-agent systems under measurement noises. J Syst Sci Complex 27, 853–865 (2014). https://doi.org/10.1007/s11424-014-1070-z

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  • DOI: https://doi.org/10.1007/s11424-014-1070-z

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