Cooperative control of multiple stochastic high-order nonlinear systems

Distributed cooperative control of multiple stochastic high-order nonlinear systems has not been addressed in literature. This paper presents an approach to design of distributed cooperative controllers for multiple stochastic high-order nonlinear systems under directed leader–followers type network topology via the so-called distributed integrator backstepping method. By using the algebraic graph theory and stochastic analysis method, it is shown that the output tracking errors between the followers and the leader can be tuned arbitrarily small while all the states of the closed-loop system remain bounded in probability. Finally, the effectiveness of the proposed control approach is illustrated on a stochastic underactuated mechanical system.