Distributed output tracking of nonlinear multi-agent systems perturbed by second-order moment processes.

In this paper, we study the distributed output tracking problem for nonlinear multi-agent systems (MASs) perturbed by second-order moment processes. This is in contrast with most of the existing results where only white noise model is considered. For the case where the graph topology is directed and the leader is the neighbor of only a small portion of followers, new distributed tracking control laws are designed via the distributed backstepping method. By using the stochastic analysis tools, it is shown that the output tracking errors between the followers and the leader can be tuned arbitrarily small while all the states of the closed-loop system remain bounded in probability. Finally, the effectiveness of the tracking controller is demonstrated by a simulation example. [ABSTRACT FROM AUTHOR]