Mean Square Containment Control of Multi-agent Systems with Transmission Noises

The containment control problem for multi-agent systems with transmission noises is considered. Due to the existence of the noises, a decaying gain function is introduced to attenuate the noises. Both dynamically switching topologies and randomly switching topologies are considered. Sufficient conditions on the communication graph and control gain function are derived to guarantee the mean square containment. Some numerical examples are provided to verify the results.