Target containment control of multi-agent systems with random switching interconnection topologies

In this paper, the distributed containment control is considered for a second-order multi-agent system guided by multiple leaders with random switching topologies. The multi-leader control problem is investigated via a combination of convex analysis and stochastic process. The interaction topology between agents is described by a continuous-time irreducible Markov chain. A necessary and sufficient condition is obtained to make all the mobile agents almost surely asymptotically converge to the static convex leader set. Moreover, conditions on the tracking estimation are provided for the convex target set determined by moving multiple leaders.