Containment tracking of leader-following multi-agent systems with measurement noise

This paper investigates the distributed containment tracking problem of first-order agents with multiple stationary or dynamic leaders under Markovian switching directed network topologies. The control input of each agent can only use its local state and the states of its neighbors corrupted by white noises. Firstly, when the leaders are stationary, some necessary and sufficient conditions are presented to solve the containment tracking in the asymptotic unbiased mean square sense. Secondly, when the leaders are moving, some necessary and sufficient conditions are presented to solve the containment tracking with bounded errors in the mean square sense. Finally, the effectiveness of the distributed tracking controller is demonstrated by simulation examples.