Distributed Tracking of Multi-Agent Systems with High-Order Stochastic Nonlinear Dynamics
نویسندگان
چکیده
The distributed tracking problem is investigated for a class of multi-agent systems with high-order stochastic nonlinear dynamics where the subsystem of each agent is driven by inherent nonlinear drift and diffusion terms. For the case where the graph topology is directed and the leader is the neighbor of only a small portion of followers, a new distributed integrator backstepping design method is proposed, and distributed tracking control laws are designed to ensure that the closed-loop system has an almost surely unique solution on [0,∞), all the states of the closed-loop system are bounded in probability, and the tracking errors can be tuned to arbitrarily small with a tunable exponential converge rate. The efficiency of the tracking controller is demonstrated by a simulation example.
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