Abstract
We consider the distributed containment control of multiagent systems with multiple stationary leaders and noisy measurements. A stochastic approximation type and consensus‐like algorithm is proposed to solve the containment control problem. We provide conditions under which all the followers can converge both almost surely and in mean square to the stationary convex hull spanned by the leaders. Simulation results are provided to illustrate the theoretical results.
Highlights
In recent years, there has been an increasing interest in the coordination control of multiagent systems
In the presence of multiple leaders, the follower agents are to be driven to a given target location spanned by the leaders, which is called a containment control problem
In 21, hybrid control schemes were proposed to drive a collection of follower agents to a target area spanned by multiple stationary/moving leaders under fixed network topology
Summary
There has been an increasing interest in the coordination control of multiagent systems. The paper considered the containment control problem for multiagent systems with general linear dynamic under fixed topology. It was assumed in these references concerning containment control that each agent can obtain the accurate information from its neighbors. We are interested in the containment control problem for a group of agents with multiple stationary leaders and noisy measurements. By employing a stochastic approximation type and consensus-like algorithm, we show that all the follower-agents converge both almost surely and in mean square to the convex hull spanned by the stationary leaders as long as the communication topology contains a united spanning tree. For a given random variable ξ, E ξ denotes its mathematical expectation
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