Distributed Observer-Based Leader-Following Consensus Control for Second-Order Stochastic Multi-Agent Systems

被引：37
作者：
Ren, Chang-E [1 ,2 ]
Shi, Zhiping [3 ]
Du, Tao [4 ]
机构：
[1] Capital Normal Univ, Beijing Adv Innovat Ctr Imaging Technol, Coll Informat Engn, Beijing 100048, Peoples R China
[2] Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing, Jiangsu, Peoples R China
[3] Capital Normal Univ, Beijing Engn Res Ctr Highly Reliable Embedded Sys, Coll Informat Engn, Beijing 100048, Peoples R China
[4] North China Univ Technol, Sch Elect & Informat Engn, Beijing 100144, Peoples R China
来源：
IEEE ACCESS | 2018年 / 6卷
基金：
中国国家自然科学基金;
关键词：
Distributed observer; leader-following consensus control; second-order multi-agent systems; stochastic nonlinear systems; TRACKING CONTROL; OUTPUT TRACKING; NETWORKS; DYNAMICS; SEEKING; DESIGN; AGENTS;
D O I：
10.1109/ACCESS.2018.2820813
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on the leader-following consensus problem of second-order nonlinear stochastic multi-agent systems. The velocity of each follower agent is unmeasured. The distributed "reducedorder observer'' is built for every follower to estimate its unknown velocity. The distributed controllers are proposed under the connected undirected topology. It can be proved that the consensus error of the stochastic multi-agent systems can converge to a small region of the origin under the backstepping control approach. Simulation is given to illustrate the effectiveness of the proposed algorithm.
引用
收藏
页码：20077 / 20084
页数：8
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