Distributed Observer-Based Leader-Following Consensus Control for Second-Order Stochastic Multi-Agent Systems

This paper focuses on the leader-following consensus problem of second-order nonlinear stochastic multi-agent systems. The velocity of each follower agent is unmeasured. The distributed "reduced-order observer" is built for every follower to estimate its unknown velocity. The distributed controllers are proposed under the connected undirected topology. It can be proved that the consensus error of the stochastic multi-agent systems can converge to a small region of the origin under the backstepping control approach. Simulation is given to illustrate the effectiveness of the proposed algorithm.