Distributed output tracking of multi-agent systems with stochastic nonlinear dynamics and multiple leaders

The distributed output tracking problem is studied for multi-agent systems with stochastic nonlinear dynamics and multiple leaders. For the case where the graph topology is directed and the leaders set is the neighbor of only a small portion of followers, distributed tracking controllers are designed to ensure that all the states of the closed-loop system remain bounded in probability. Also, it can be proved that the followers' outputs will exponentially converge to the convex hull spanned by the dynamic leaders' outputs with tunable tracking errors. The efficiency of the tracking controllers is demonstrated by a simulation example.

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