Leader-Following Consensus for High-Order Multi-agent Systems with Measurement Noises

This paper deals with the leader-following problem of consensus for high-order multi-agent systems under measurement noises. The communication network topology is time-varying rather than switches among several fixed topologies. To track the active leader, a neighbor-based control of each following agent is designed by using local information. By use of stochastic analysis methods and Lyapunov theorem, conditions for tracking strategy are proposed. Under the proposed consensus protocols, it is shown that the tracking system is stochastically stable and the estimation errors converge to zero in mean square as well. Finally, a numerical example is provided to demonstrate the effectiveness of proposed control theory.