研究了半马氏切换拓扑下随机非线性多智能体系统的~$H_{\mathrm{\infty }}$ 包含控制问题. 通过设计一个控制协议使得所有跟随者的状态最终到达了领导者状态形成的凸包内, 并证明该协议对随机噪声、外部干扰和半马氏切换拓扑等因素具有良好的鲁棒性. 利用李雅普诺夫函数方法给出了实现~$H_{\mathrm{\infty }}$ 包含控制的充分条件. 最终通过仿真算例验证了结果的正确性.

Under semi-Markovian switching topologies, $H_{\mathrm{\infty }}$ containment control for stochastic nonlinear multi-agent systems (MASs) is discussed. A control protocol is designed to enable states of followers to reach the convex hull spanned by leaders' states in the end. It is shown that the proposed protocol has good robustness against stochastic noise, external disturbance, and the semi-Markovian switching topologies. Sufficient conditions are obtained to achieve $H_{\mathrm{\infty }}$ containment control by using Lyapunov function method. A numerical example is given to verify the rightness of results.