Wuquan Li

1. USV has emerged as the crucial tools for ocean exploration and research, due to its intelligence, miniaturization and lightweight design. Naderolasli (2021) proposes a developed self-tuning adap...

A novel distributed adaptive containment tracking control method is proposed for stochastic multiagent systems (MASs). Unlike existing results, we consider a more general system with both multiple dynamic leaders and unknown covariance. The control input of each agent system depends only on the states of its neighbors and its local states. When dealing with unknown time-varying covariance, we do not need to know its bound but use a proper estimation. Then, by using the backstepping design method, an adaptive law and a distributed adaptive tracking controller are designed. Using stochastic analysis and graph theory, it is proved that the outputs of the followers converge exponentially to the convex hull spanned by the outputs of the dynamic leaders under the condition that all signals of the closed-loop system remain bounded in probability and the tracking error is tunable. Finally, we illustrate the feasibility of the design scheme through numerical simulation.