Cooperative control of multiple stochastic high-order nonlinear systems

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)218-225
Journal / PublicationAutomatica
Online published20 May 2017
Publication statusPublished - Aug 2017


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.

Research Area(s)

  • Cooperative control, Directed network topology, Stochastic high-order nonlinear systems