Mean square formation and containment control of multi-agent systems under noisy measurements

A multi-agent system with multiple leaders under noisy measurements is considered. A two-level control protocol is proposed to make the leaders achieve formation and meanwhile to make the followers be contained in the formation asymptotically in the mean square sense. Decaying gain functions are introduced to attenuate the noises. The communication graph is dynamically switching. Some connectivity conditions of the switching communication graphs are derived to guarantee the mean square formation and containment.