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In this brief, a coordinated tracking control problem for a multi-agent system with noisy communication channels is considered under a leader-follower framework. Two control gain functions are designed, where the first one is used to attenuate the noise effect and the second is used to stabilize the system. Using tools from the algebraic graph theory and stochastic analysis, it is proved that, even over a switching directed network topology, the followers can track the leader in mean square.
Circuits and Systems II: Express Briefs, IEEE Transactions on (Volume:59 , Issue: 11 )
Date of Publication: Nov. 2012