Consensusability of Multiagent Systems With Delay and Packet Dropout Under Predictor-Like Protocols

This paper considers the consensusability of multiagent systems with delay and packet dropout. By proposing a kind of predictor-like protocol, sufficient and necessary conditions are given for the mean-square consensusability in terms of system matrices, time delay, communication graph, and the packet drop probability. Moreover, sufficient and necessary conditions are also obtained for the formationability of multiagent systems.