In this paper, we are concerned with the problem of containment control for a class of nonlinear multi-agent system. The local dynamics under consideration is governed by a nonlinear system with time delays and white Gaussian noise. The multi-agent system consists of both leaders and followers, and the containment control protocol proposed is an interaction between the leaders and followers characterised by time-varying delays and switching topology. Under a certain assumption on the connectivity of the whole network, by constructing a Lyapunov–Krasovskii functional, and using the average dwell time approach and some new analytical techniques, the sufficient conditions are established to ensure that each follower converges in mean square to the convex hull spanned by the leaders. A numerical example is presented to illustrate the effectiveness of the theoretical results.

中文翻译：

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一类具有切换拓扑和混合时滞的非线性多智能体系统的随机包含控制

在本文中，我们关注的是一类非线性多智能体系统的包含控制问题。所考虑的局部动力学由具有时间延迟和高斯白噪声的非线性系统控制。多代理系统由领导者和追随者组成，所提出的遏制控制协议是领导者和追随者之间的交互，其特征是时变延迟和切换拓扑。在整个网络连通性的一定假设下，通过构造Lyapunov-Krasovskii泛函，利用平均停留时间法和一些新的分析技术，建立充分条件保证每个follower均方收敛到凸面船体由领导人跨越。