Formation Control of Second-order Multi-agent Systems with Multiplicative Noises

Abstract

Formation control problems of second-order multiagent systems (SOMASs) with multiplicative noises are dealt with. Firstly, We give the formation analysis and appropriate control protocol. And then formation control problems are converted into mean square asymptotic stability (MSAS) problems of stochastic systems. Then, formation center function (FCF) is given and the formation feasibility condition of MASs is derived. Finally, the unmanned aerial vehicles (UAVs) are simulated and the reliability of the theoretical derivation can be illustrated.