Leader-following Consensus of Double-integrator Multi-agent Systems with Noisy Measurements

This paper proposes a leader-following consensus control for continuous-time double-integrator multi-agent systems in noisy communication environment with a constant velocity reference state. Each follower in the team inaccurately measures its neighbors' positions and the leader's position if this follower has access to the leader, that the measured positions are corrupted by noises. The constant velocity of the leader is a priori well known. The consensus protocol is constructed based on algebraic graph theory and some stochastic tools. Conditions to ensure the tracking consensus in mean square are derived for both fixed and switching directed topologies. Finally, to illustrate the approach presented, some numerical simulations are carried out.