讨论了具有测量噪声约束的动态领导者跟随者系统的分布式跟随控制． 假定跟随者预设有领导者的速度信息，但只有部分跟随者可以直接测量获得领导者的输出信息，并且所有跟随者都缺失领导者的初始信息．同时假定个体间偏差量的测量都存在测量噪声的影响． 对于该情形，文中证明了传统的跟随控制协议可以在均方意义下保证所有跟随者跟随动态领导者，并给出了参数的选择范围． 文中既考虑了固定拓扑结构情形下的跟随控制，也进一步考虑了切换拓扑结构情形．所以传统的跟随控制协议对依赖于测量值的测量噪声具有良好的鲁棒性．最后用数值例子进行实验验证，实验结果和理论分析结果一致．

This paper discusses the distributed tracking control of the multi-agent systems with an active leader,with measurement noises as the constraint.It is assumed that the followers have known the velocity information ofthe leader but only some followers can directly obtain the output information of the leader and that all followers knownothing about the initial information of the leader.It is also assumed that the measurements of errors among agentsare not accurate due to the noise impact.In this case,it is proved that all followers can track the active leaderaccording to the mean square by means of the conventional protocol,which considers both the fixed topology andthe switching topology.Moreover,the ranges of parameters are given.It is thus concluded that the conventionalprotocol is robust against the measurement noises which are dependent on relative-states.Finally,simulations arecarried out,and the results are consistent with the theoretical ones.