Cooperative Control For Stochastic Upper-Triangular Nonlinear Multi-Agent Systems

The control of stochastic nonlinear multi-agent systems has very important applications in many fields,such as large-scale robot systems and biological systems.Therefore,the control of stochastic nonlinear multi-agent systems has attracted a lot of attention recently.In this paper,the cooperative control of upper-triangular stochastic nonlinear multi-agent systems is studied.This paper considers the cooperative control of upper triangular stochastic nonlinear multi-agent systems with time delay.We first introduce a coordinate transformation so that we get a MASs with a low-gain.Then,we build a distributed controller for nominal system of the MASs with a low-gain.With the help of the distributed controller,we choosing the appropriate Lyapunov function and using stochastic analysis tool to solve the control problem.This paper studies the containment control of upper-triangular stochastic nonlinear multi-agent systems disturbed by second-order moment processes.Firstly,we design the distributed controllers for the nominal system of the MASs with multiple leaders.Then,by the low-gain homogeneous domination technique and the stochastic analysis tools,we design a low-gain parameter,choose an appropriate Lyapunov function and prove that the output tracking errors can achieve mean square bounded and all the states of the closed-loop system are bounded in probability.After that,this paper gives an example to demonstrate the effectiveness of the tracking controllers.In addition,this paper gives a simulation example that the dynamics of the system do not satisfy the description of the MASs studied in this paper,but our method is still valid to deal with it.Finally,the work of this paper is summarized and prospected.