Time-varying formation tracking control of high-order multi-agent systems with multiple leaders and multiplicative noise

This work discusses the time-varying formation (TVF) tracking control problem of high-order multi-agent systems (MASs) with multiple leaders and multiplicative measurement noise. With the help of Lyapunov function tools and stochastic analysis methods, the TVF tracking protocol with multiple leaders and multiplicative noise is developed based on the relative state measurements, where followers are driven to realize the target TVF while tracking the convex combination formed by multiple leaders. Then, the TVF tracking problem is converted into the mean square asymptotic stability problem of a stochastic differential equation (SDE); sufficient conditions related to the control gains are given by stabilizing the corresponding stochastic system. Moreover, a TVF tracking algorithm is presented to outline the steps of protocol design. Finally, the theoretical results are illustrated in terms of simulation examples.