Distributed Containment Control for Nonlinear Stochastic Multiagent Systems

This paper addresses the output feedback distributed containment control problem for a class of nonlinear stochastic multiagent systems under a fixed directed graph. Existing works usually design the containment control protocol using backstepping design method based on a conservative Lipschitz condition on nonlinear functions, which has a tedious control design procedure. In this paper, a new output feedback distributed containment control algorithm is proposed based on a novel dynamic compensator, which can not only simplify the control design procedure but also relax the condition on nonlinear terms. The proposed distributed containment protocol for each agent depends only on the agent output and the relative outputs of its neighbor agents, and can reduce the communication burden between the agents. Based on the Lyapunov stability theory, it is proved that the outputs of the followers are driven into the convex hull spanned by the outputs of the leaders with the proposed linear controller. Finally, the effectiveness of the theoretical results is illustrated by simulation examples.