Abstract
This paper considers the containment control problem for second-order multi-agent systems in the presence of communication noise and dynamically switching topologies. The control protocol is proposed for containment control, where a positive time-varying gain is employed in the protocol to attenuate the effect of noises. The stability of the proposed containment control protocol is studied with the assumption that the communication topology is jointly-connected, and some constraint conditions for containment control are derived with the aid of modern control theory and stochastic analysis. Simulation results are provided to verify the correctness and effectiveness of the obtained theoretical results.
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