Journal of South China University of Technology (Natural Science Edition) ›› 2014, Vol. 42 ›› Issue (8): 45-51.doi: 10.3969/j.issn.1000-565X.2014.08.008

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Tracking Control of Multi-Agent Systems with an Active Leader and Measurement Noises

Liu Wen-hui1 Deng Fei-qi1 Ren Hong-wei1,2 Zhao Yin-wei3   

  1. 1.School of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China;2.College of Computer and Electronic Information,Guangdong University of Petrochemical Technology,Maoming 525000,Guangdong,China; 3.School of Sciences,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2014-02-17 Revised:2014-05-10 Online:2014-08-25 Published:2014-07-01
  • Contact: 邓飞其(1962-)，男，博士，教授，主要从事复杂系统研究． E-mail:aufqdeng@scut.edu.cn
  • About author:刘文辉(1983-)，男，博士生，主要从事多智能体系统的协调控制问题研究． E-mail:liuwenhui52@sina．com
  • Supported by:

    国家自然科学基金资助项目( 61273126， 61363002， 61374104) ; 教育部高等学校博士学科点专项科研基金资助项目( 20130172110027) ; 自主系统与网络控制教育部重点实验室开放基金资助项目( 2013A01)

PDF

746

Abstract:

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.

Key words: multi-agent systems, stochastic systems, distributed tracking control, measurement noise