Distributed output tracking of multi-agent systems with stochastic nonlinear dynamics and multiple leaders

The distributed output tracking problem is studied for multi-agent systems with stochastic nonlinear dynamics and multiple leaders. For the case where the graph topology is directed and the leaders set is the neighbor of only a small portion of followers, distributed tracking controllers are designed to ensure that all the states of the closed-loop system remain bounded in probability. Also, it can be proved that the followers´ outputs will exponentially converge to the convex hull spanned by the dynamic leaders´ outputs with tunable tracking errors. The efficiency of the tracking controllers is demonstrated by a simulation example.