Cooperative output feedback tracking control of stochastic nonlinear heterogeneous multi-agent systems

We study cooperative output feedback tracking control of stochastic nonlinear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time stochastic nonlinear heterogeneous dynamics with an unmeasurable state, and there are additive and multiplicative noises along with information exchange among agents. We propose admissible distributed observation strategies for estimating the leader's and the followers' states, and admissible cooperative output feedback control strategies based on the certainty equivalence principle. By output regulation theory and stochastic analysis, we show if the dynamics of each agent satisfies the Lipschitz condition, and the product of the leader's Lipschitz coefficient, the intensity of multiplicative measurement noises, and the constant related to the leader's Lipschitz coefficient and dimension is less than (Figure presented.) the minimum nonzero eigenvalue of graph Laplacian, then there exist admissible distributed observation and cooperative control strategies to ensure mean square bounded output tracking. Finally, the effectiveness of our control strategies is demonstrated by a numerical simulation.