Cooperative Output Feedback Tracking Control of Heterogeneous Multi-Agent Systems Under Markovian Switching Topologies and Multiple Measurement Noises

This paper addresses the mean-square output tracking problem for heterogeneous multi-agent systems (HMASs) under Markovian switching topologies and various types of measurement noise. A novel distributed output feedback control scheme is proposed, where each follower uses an observer to estimate the leader's state while handling both additive and multiplicative noise. Rigorous conditions ensuring mean-square stability are derived using probability theory and Lyapunov analysis. A numerical example validates the effectiveness of the proposed approach.