Mean-square consensus for heterogeneous multi-agent systems with probabilistic time delay

This paper studies the delay-dependent consensus problem of heterogeneous multi-agent systems over directed topology. The heterogeneous dynamics consisting of both first-order and second-order agents with random time delay are considered. New distributed control protocols based on the probability distribution of time delay are proposed for the leaderfollowing and leaderless systems. By adopting matrix theory, Lyapunov-Krasovskii function and stochastic analysis, some less conservative conditions for the mean-square consensus are established over directed fixed topology and switching topologies. Moreover, the larger upper bounds of time delay are obtained. Finally, several simulations are presented to illustrate the obtained results. (C) 2020 Elsevier Inc. All rights reserved.

Automated summary

This paper investigates the delay-dependent consensus problem of heterogeneous multi-agent systems over directed topology, proposing new distributed control protocols based on the probability distribution of time delay. Through matrix theory, Lyapunov-Krasovskii function, and stochastic analysis, less conservative conditions for mean-square consensus are established, and larger upper bounds of time delay are obtained. Several simulations are presented to illustrate the results.