Containment consensus with measurement noises and time-varying communication delays

In this paper, we consider the containment consensus control problem for multi-agent systems with measurement noises and time-varying communication delays under directed networks. By using stochastic analysis tools and algebraic graph theory, we prove that the followers can converge to the convex hull spanned by the leaders in the sense of mean square if the allowed upper bound of the time-varying delays satisfies a certain sufficient condition. Moreover, the time-varying delays are asymmetric for each follower agent, and the time-delay-dependent consensus condition is derived. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.