Distributed Adaptive Containment Tracking of Multiple Stochastic Nonlinear Systems*

In this paper, a distributed adaptive controller is designed for multiple stochastic nonlinear systems (SNSs) with unknown covariance. By the reasonable estimation of the unknown covariance and backstepping, the adaptive law function and a new distributed controller are successfully constructed. With the graph theory method, it is shown that the followers' outputs will exponentially converge to the convex hull spanned by the leaders' outputs and all the signals of the closed-loop system remain bounded in probability. Finally, numerical simulations verify the effectiveness of the proposed methods.