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Mean-square Quasi-composite Rotating Formation Control of Second-order Multi-agent Systems under Stochastic Communication Noises

This paper mainly concerns the mean-square quasi-composite rotating formation problem of second-order multi-agent systems (MASs) with stochastic communication noises. Firstly, the definition of mean-square quasi-composite rotating formation is proposed. Afterwards, a distributed control protocol with time-varying control gains is designed. And then, the origin closed-loop system is changed into an equivalent closed-loop system by taking coordinate transformation. Under some mild assumptions, sufficient conditions are deduced. Eventually, a numerical simulation is provided to confirm the effectiveness of the proposed theoretical results.