Multi-agent containment control with random link failures over dynamic cooperative networks

In this contribution, the containment control problem for a team of agents with discrete-time second-order dynamics over dynamic cooperative networks is discussed, where data from the controller to the actuator may be lost randomly and it is described by a random variable obeying Bernoulli distribution. A random-based distributed controller is designed by using the information from neighbors. Based on the hybrid tools of graph theory and nonnegative matrix, it is shown that the implementation of containment control is related to the dynamic cooperative networks and the successful rate of information transmission. Finally, a simulation is carried out to demonstrate the result in this paper.