Coordinated tracking in mean square for a multi-agent system with noise perturbations

Author

Chen, Fei ; Xiang, Linying ; Lan, Weiyao ; Chen, Guanrong

Author_Institution

Dept. of Autom., Xiamen Univ., Xiamen, China

fYear

2012

fDate

25-27 July 2012

Firstpage

6129

Lastpage

6134

Abstract

In this paper, a coordinated tracking control problem for a multi-agent system under noise perturbations is considered over a leader-follower communication network. Two control gain functions are designed where the first one is used to attenuate the effect of noise and the second to stabilize the system. Using tools from the algebraic graph theory and stochastic analysis, it is proved that the followers can track the leader in mean square over a time-invariant network. The results are then extended to the scenario of a time-varying network.

Keywords

graph theory; mean square error methods; mobile robots; multi-agent systems; multi-robot systems; perturbation techniques; stability; stochastic systems; tracking; algebraic graph theory; control gain functions; coordinated tracking control problem; leader-follower communication network; mean square; multiagent system; noise attenuation; noise perturbations; stochastic analysis; system stability; time-invariant network; time-varying network; Eigenvalues and eigenfunctions; Lead; Multiagent systems; Network topology; Noise; Switches; Symmetric matrices; Multi-agent system; cooperative control; coordinated tracking; leader-follower network; noise perturbation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6391016