Containment control of multi-agent systems with measurement noises
  In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of multi-agent systems. By using stochastic analysis tools and algebraic graph theory, some necessary and sufficient criteria are established to ensure the followers converge to the convex hull spanned by the leaders in the sense of mean square and probability 1. When the leasers are dynamic, a stochastic approximation type protocol with distributed estimators is developed and necessary and sufficient conditions are also obtained for solving the containment control problem. Simulations are provided to illustrate the effectiveness of the theoretical results. 
Yuanshi Zheng, Tao Li, Long Wang
cs.SY