Cooperative Tracking Control of Multiple Airships

This paper studies the cooperative tracking control problem for multiple airships with second-order moment processes. A distributed vectorial backstepping design scheme is proposed. A distributed cooperative controller with adjustable parameters is designed to ensure that while all states of the closed-loop system are bounded in probability, the mean-square of the tracking errors between the followers’ output and the leader’s output can be made arbitrarily small. Finally, the effectiveness of the designed control scheme is verified by a simulation example.