Cooperative output feedback tracking control of heterogeneous multi-agent systems with semi-Markovian switching topologies and multiple measurement noises

Abstract

This paper investigates the mean square output tracking control problem in heterogeneous multi-agent systems (HMASs) influenced by semi-Markovian switching topologies and multiple forms measurement noises. A novel distributed output feedback control scheme is proposed, ensuring robustness in environments characterized by stochastic topology changes and diverse noise types. Unlike previous methods, our research addresses both additive and multiplicative noises and general sojourn time distributions during topology switching, thereby providing a more general framework. The stability and convergence of the proposed approach are rigorously analyzed using Lyapunov-based techniques, and its efficacy is validated through two examples.