Containment control of general multi-agent systems with directed random switching topology

This paper devotes itself to the containment tracking problems of general time-varying high-order multi-agent systems (MAS). In this paper, the directed graph (digraph) topologies of the MAS are random Markovian switching, and the dynamics are not merely confined to be linear. The control protocol that only based on the neighbor׳s states is designed. The containment tracking results are obtained in the asymptotic unbiased mean square sense and with bounded error in mean square sense for general linear case and nonlinear case respectively. Simulations are also provided to demonstrate the effectiveness of our results.