Distributed cooperative control for a class of stochastic upper-triangular nonlinear multi-agent systems

This paper is concerned with the cooperative control of stochastic upper-triangular nonlinear multi-agent systems (MASs) under directed leader-followers type network topology. By introducing effective coordinates, the original system is transformed into an equivalent one with tunable gain. Then, by using the distributed low-gain homogeneous domination technique, the low gain parameter is constructed and distributed controllers are designed. After that, by using the algebraic graph theory and stochastic analysis method, it is proved that the followers can achieve mean square bounded output tracking of the leader while keeping all the states of the closed-loop system bounded in probability. Finally, a simulation example is given to illustrate the efficiency of the distributed controllers.