{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T11:16:41Z","timestamp":1783163801455,"version":"3.54.6"},"reference-count":45,"publisher":"Elsevier BV","issue":"10","license":[{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100012476","name":"Fundamental Research Funds for Central Universities of the Central South University","doi-asserted-by":"publisher","award":["2572023CT15"],"award-info":[{"award-number":["2572023CT15"]}],"id":[{"id":"10.13039\/501100012476","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2023M730528"],"award-info":[{"award-number":["2023M730528"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014717","name":"Youth Science Fund Project","doi-asserted-by":"publisher","award":["YQ2023F002"],"award-info":[{"award-number":["YQ2023F002"]}],"id":[{"id":"10.13039\/100014717","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010009","name":"Heilongjiang Provincial Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["LBH-Z22053"],"award-info":[{"award-number":["LBH-Z22053"]}],"id":[{"id":"10.13039\/501100010009","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Journal of the Franklin Institute"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1016\/j.jfranklin.2026.108727","type":"journal-article","created":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T12:29:29Z","timestamp":1778243369000},"page":"108727","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"title":["Containment control for multi-agent systems with Markovian switching topologies: A distributed relay strategy"],"prefix":"10.1016","volume":"363","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8771-2478","authenticated-orcid":false,"given":"Xin","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-7805-1715","authenticated-orcid":false,"given":"Lu","family":"Huang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaozong","family":"Wei","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liangkuan","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mingfei","family":"Ban","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"2","key":"10.1016\/j.jfranklin.2026.108727_bib0001","doi-asserted-by":"crossref","first-page":"1250","DOI":"10.1109\/TCYB.2022.3208124","article-title":"Event-triggered adaptive finite-time containment control for fractional-order nonlinear multiagent systems","volume":"54","author":"Liu","year":"2024","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0002","doi-asserted-by":"crossref","first-page":"264","DOI":"10.1109\/TASE.2024.3349634","article-title":"Event-based adaptive sliding-mode containment control for multiple networked mechanical systems with parameter uncertainties","volume":"22","author":"Yao","year":"2025","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"4","key":"10.1016\/j.jfranklin.2026.108727_bib0003","doi-asserted-by":"crossref","first-page":"2530","DOI":"10.1109\/TSMC.2023.3345365","article-title":"On state-constrained containment control for nonlinear multiagent systems using event-triggered input","volume":"54","author":"Wang","year":"2024","journal-title":"IEEE Trans. Syst., Man, Cybern. Syst."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0004","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1016\/j.isatra.2024.12.044","article-title":"Dynamic event-triggered tolerant containment control protocol for discrete multiagent systems based on finite index policy iteration algorithm","volume":"158","author":"Yan","year":"2025","journal-title":"ISA Trans."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.cnsns.2025.108830","article-title":"Containment control of PDE-type T\u2013S fuzzy multi-agent systems via event-triggered scheme","volume":"147","author":"Parivallal","year":"2025","journal-title":"Commun. Nonlinear Sci. Numer. Simul."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0006","article-title":"Resilient nonlinear model predictive control for formation-containment of multi-mobile robot systems","volume":"189","author":"Kazemi","year":"2025","journal-title":"Robotica"},{"key":"10.1016\/j.jfranklin.2026.108727_bib0007","doi-asserted-by":"crossref","DOI":"10.1016\/j.ast.2025.110068","article-title":"Adaptive reset control for group-bipartite formation of multi-UAVs subject to transmission delays","volume":"160","author":"Tang","year":"2025","journal-title":"Aerosp. Sci. Technol."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0008","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2025.112620","article-title":"Cooperative dynamic surrounding coverage control for multi-autonomous surface vehicle fleets with limited sensing ranges","volume":"183","author":"Zou","year":"2026","journal-title":"Automatica"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108727_bib0009","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1109\/JAS.2021.1003820","article-title":"Physical safety and cyber security analysis of multi-agent systems: a survey of recent advances","volume":"8","author":"Zhang","year":"2021","journal-title":"IEEE CAA J. Autom. Sin."},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108727_bib0010","doi-asserted-by":"crossref","first-page":"919","DOI":"10.1109\/TFUZZ.2022.3193440","article-title":"Distributed adaptive fuzzy formation control of uncertain multiple unmanned aerial vehicles with actuator faults and switching topologies","volume":"31","author":"Yu","year":"2023","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0011","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2023.111079","article-title":"Moving horizon estimation over relay channels: dealing with packet losses","volume":"155","author":"Zou","year":"2023","journal-title":"Automatica"},{"issue":"12","key":"10.1016\/j.jfranklin.2026.108727_bib0012","doi-asserted-by":"crossref","first-page":"8627","DOI":"10.1109\/TCOMM.2021.3116151","article-title":"RIS-aided wireless communications: prototyping, adaptive beamforming, and indoor\/outdoor field trials","volume":"69","author":"Pei","year":"2021","journal-title":"IEEE Trans. Commun."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0013","doi-asserted-by":"crossref","first-page":"10009","DOI":"10.1007\/s11071-024-09574-z","article-title":"Adaptive event-triggered output-feedback consensus tracking control for switched multi-agent systems","volume":"112","author":"Yan","year":"2024","journal-title":"Nonlinear Dyn."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0014","doi-asserted-by":"crossref","first-page":"21435","DOI":"10.1007\/s11071-025-11231-y","article-title":"Fixed-time event-triggered fault-tolerant formation-containment control for underactuated USVs with uncertain dynamics","volume":"113","author":"Li","year":"2025","journal-title":"Nonlinear Dyn."},{"issue":"7","key":"10.1016\/j.jfranklin.2026.108727_bib0015","doi-asserted-by":"crossref","first-page":"7736","DOI":"10.1109\/TITS.2023.3236016","article-title":"Multi-relay cognitive network with anti-fragile relay communication for intelligent transportation system under aggregated interference","volume":"24","author":"Ji","year":"2023","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0016","doi-asserted-by":"crossref","first-page":"944","DOI":"10.1109\/TIFS.2024.3522770","article-title":"Data-importance-aware attack strategy design and secure control countermeasure","volume":"20","author":"Wu","year":"2025","journal-title":"IEEE Trans. Inf. Forensics Secur."},{"issue":"6","key":"10.1016\/j.jfranklin.2026.108727_bib0017","doi-asserted-by":"crossref","first-page":"2193","DOI":"10.1109\/TCCN.2024.3400516","article-title":"Balancing performance and cost for two-hop cooperative communications: stackelberg game and distributed multi-agent reinforcement learning","volume":"10","author":"Geng","year":"2024","journal-title":"IEEE Trans. Cogn. Commun. Netw."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0018","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2024.111883","article-title":"Online estimated-based-state feedback control of n-qubit stochastic open quantum systems","volume":"171","author":"Cong","year":"2025","journal-title":"Automatica"},{"issue":"10","key":"10.1016\/j.jfranklin.2026.108727_bib0019","doi-asserted-by":"crossref","first-page":"4885","DOI":"10.1109\/TCYB.2020.3007500","article-title":"Design of hybrid event-triggered containment controllers for homogeneous and heterogeneous multiagent systems","volume":"51","author":"Wang","year":"2021","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0020","doi-asserted-by":"crossref","first-page":"1657","DOI":"10.1109\/TRO.2025.3539195","article-title":"Containment control of multirobot systems with nonuniform time-varying delays","volume":"41","author":"Ren","year":"2025","journal-title":"IEEE Trans. Robotics"},{"issue":"5","key":"10.1016\/j.jfranklin.2026.108727_bib0021","doi-asserted-by":"crossref","first-page":"2762","DOI":"10.1109\/TFUZZ.2024.3357716","article-title":"Event-triggered practical fixed-time containment control for stochastic multiagent systems with input delay","volume":"32","author":"Yu","year":"2024","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0022","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/j.isatra.2023.01.036","article-title":"Finite-time tolerant containment control for IT2 T\u2013S fuzzy network multi-agent systems with actuator faults, packet dropouts and DoS attacks","volume":"137","author":"Yan","year":"2023","journal-title":"ISA Trans."},{"issue":"11","key":"10.1016\/j.jfranklin.2026.108727_bib0023","doi-asserted-by":"crossref","first-page":"7406","DOI":"10.1109\/TCYB.2023.3249154","article-title":"Adaptive neural network event-triggered output-feedback containment control for nonlinear MASs with input quantization","volume":"53","author":"Zhou","year":"2023","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0024","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1016\/j.isatra.2020.11.007","article-title":"Fixed time output feedback containment for uncertain nonlinear multiagent systems with switching communication topologies","volume":"111","author":"Tian","year":"2021","journal-title":"ISA Trans."},{"issue":"6","key":"10.1016\/j.jfranklin.2026.108727_bib0025","doi-asserted-by":"crossref","first-page":"1421","DOI":"10.1109\/JAS.2023.123198","article-title":"Lyapunov-based output containment control of heterogeneous multi-agent systems with Markovian switching topologies and distributed delays","volume":"10","author":"Guo","year":"2023","journal-title":"IEEE\/CAA J. Autom. Sin."},{"issue":"6","key":"10.1016\/j.jfranklin.2026.108727_bib0026","doi-asserted-by":"crossref","first-page":"3889","DOI":"10.1109\/TSMC.2019.2946248","article-title":"Containment control of semi-Markovian multiagent systems with switching topologies","volume":"51","author":"Liang","year":"2021","journal-title":"IEEE Trans. Syst., Man, Cybern. Syst."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0027","doi-asserted-by":"crossref","first-page":"3424","DOI":"10.1002\/rnc.7853","article-title":"Cluster consensus control for second-order multi-agent systems: an adaptive fuzzy sliding mode approach","volume":"35","author":"Li","year":"2025","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"10.1016\/j.jfranklin.2026.108727_bib0028","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1016\/j.automatica.2014.10.070","article-title":"Containment control of leader-following multi-agent systems with Markovian switching network topologies and measurement noises","volume":"51","author":"Li","year":"2015","journal-title":"Automatica"},{"key":"10.1016\/j.jfranklin.2026.108727_bib0029","doi-asserted-by":"crossref","DOI":"10.1016\/j.neucom.2023.127180","article-title":"Practical finite-time and fixed-time containment for second-order nonlinear multi-agent systems with IDAs and Markov switching topology","volume":"573","author":"Lu","year":"2024","journal-title":"Neurocomputing"},{"issue":"7","key":"10.1016\/j.jfranklin.2026.108727_bib0030","doi-asserted-by":"crossref","first-page":"7002","DOI":"10.1109\/TCYB.2020.3037133","article-title":"Necessary and sufficient conditions of formation-containment control of high-order multiagent systems with observer-type protocols","volume":"52","author":"Gong","year":"2022","journal-title":"IEEE Trans. Cybern."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0031","doi-asserted-by":"crossref","DOI":"10.1016\/j.nahs.2021.101020","article-title":"Impulsive consensus of one-sided lipschitz nonlinear multi-agent systems with semi-Markov switching topologies","volume":"40","author":"Ma","year":"2021","journal-title":"Nonlinear Anal. Hybrid Syst."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0032","doi-asserted-by":"crossref","first-page":"19775","DOI":"10.1109\/TASE.2025.3597831","article-title":"A distributed self-triggered control scheme for multi-unmanned aerial vehicle containment control under Markov switching topologies and channel fading","volume":"22","author":"Cao","year":"2025","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0033","doi-asserted-by":"crossref","first-page":"22101","DOI":"10.1007\/s11071-024-10200-1","article-title":"Containment control of fractional complex networks with stochastic communication noises","volume":"112","author":"Yuan","year":"2024","journal-title":"Nonlinear Dyn."},{"issue":"14","key":"10.1016\/j.jfranklin.2026.108727_bib0034","doi-asserted-by":"crossref","first-page":"6190","DOI":"10.1002\/rnc.8047","article-title":"Dynamic event-triggered fixed-time neural adaptive containment control for nonlinear multiagent systems with input saturation","volume":"35","author":"Liu","year":"2025","journal-title":"Int. J. Robust Nonlinear Control"},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108727_bib0035","doi-asserted-by":"crossref","first-page":"1462","DOI":"10.1109\/TVT.2023.3310771","article-title":"Partial compress-and-Forward strategy for relay-Assisted wireless networks based on rateless coding","volume":"73","author":"Ding","year":"2024","journal-title":"IEEE Trans. Veh. Technol."},{"key":"10.1016\/j.jfranklin.2026.108727_bib0036","doi-asserted-by":"crossref","DOI":"10.1016\/j.neucom.2024.127708","article-title":"Sampled-data model-free adaptive integral sliding mode control for nonlinear continuous-time networked control systems with fading channels and packet dropouts","volume":"589","author":"Chang","year":"2024","journal-title":"Neurocomputing"},{"key":"10.1016\/j.jfranklin.2026.108727_bib0037","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2024.112091","article-title":"Encryption-decryption-based set-membership filtering for two-dimensional systems: on security and boundedness","volume":"173","author":"Zhu","year":"2025","journal-title":"Automatica"},{"issue":"5","key":"10.1016\/j.jfranklin.2026.108727_bib0038","doi-asserted-by":"crossref","first-page":"8973","DOI":"10.1109\/JIOT.2023.3321673","article-title":"Source selection and resource allocation in wireless-powered relay networks: an adaptive dynamic programming-based approach","volume":"11","author":"Lyu","year":"2024","journal-title":"IEEE Internet Things J."},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108727_bib0039","doi-asserted-by":"crossref","first-page":"356","DOI":"10.1109\/JAS.2024.124590","article-title":"Cubature kalman fusion filtering under amplify-and-forward relays with randomly varying channel parameters","volume":"12","author":"Li","year":"2025","journal-title":"IEEE\/CAA J. Autom. Sin."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108727_bib0040","doi-asserted-by":"crossref","first-page":"1691","DOI":"10.1109\/TIV.2023.3284394","article-title":"Performance analysis of satellite-vehicle networks with a non-terrestrial vehicle","volume":"9","author":"Wang","year":"2024","journal-title":"IEEE Trans. Intell. Vehicles"},{"key":"10.1016\/j.jfranklin.2026.108727_bib0041","doi-asserted-by":"crossref","first-page":"264","DOI":"10.1016\/j.automatica.2019.03.029","article-title":"Event-triggered cooperative unscented kalman filtering and its application in multi-UAV systems","volume":"105","author":"Song","year":"2019","journal-title":"Automatica"},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108727_bib0042","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1016\/j.isatra.2017.06.027","article-title":"Analyses of integrated aircraft cabin contaminant monitoring network based on kalman consensus filter","volume":"71","author":"Wang","year":"2017","journal-title":"ISA Trans."},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108727_bib0043","doi-asserted-by":"crossref","first-page":"1887","DOI":"10.1109\/TNSE.2021.3076113","article-title":"Partial-nodes-based state estimation for complex networks with constrained bit rate","volume":"8","author":"Li","year":"2021","journal-title":"IEEE Trans. Netw. Sci. Eng."},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108727_bib0044","doi-asserted-by":"crossref","first-page":"1510","DOI":"10.1016\/j.jfranklin.2024.01.015","article-title":"Time-varying formation tracking control for multi-agent systems using distributed multi-sensor multi-target filtering","volume":"361","author":"Qi","year":"2024","journal-title":"J. Frankl. Inst."},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108727_bib0045","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1109\/JSYST.2025.3554233","article-title":"Distributed containment control for discrete-time nonlinear multiagent systems over dynamic topology with system uncertainties","volume":"19","author":"Du","year":"2025","journal-title":"IEEE Syst. J."}],"container-title":["Journal of the Franklin Institute"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226003273?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226003273?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T10:29:24Z","timestamp":1783160964000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0016003226003273"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6]]},"references-count":45,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2026,6]]}},"alternative-id":["S0016003226003273"],"URL":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108727","relation":{},"ISSN":["0016-0032"],"issn-type":[{"value":"0016-0032","type":"print"}],"subject":[],"published":{"date-parts":[[2026,6]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Containment control for multi-agent systems with Markovian switching topologies: A distributed relay strategy","name":"articletitle","label":"Article Title"},{"value":"Journal of the Franklin Institute","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108727","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Franklin Institute. Published by Elsevier Inc. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"108727"}}