Consensus control of Multi-agent system with stochastic time-varying delay

The Consensus control of second-order multi-agent system with stochastic time-varying communication delay is discussed in detail. It is assumed that there exists the stochastic time-varying delay following the Markov distribution in the communication network between agents, then to guide the action of agents keeping consensus. In this paper, consensus control problem is transformed into a stability problem of the error system where the error is the state of agents in network to reference state according to the consensus protocol. The sufficient conditions for stabilizing the error system are derived by stochastic analysis and Lyapunov stability theory. The upper bound of the allowable random time-varying delay to lead to consensus control is obtained. The simulation results verify the correctness of the conclusion.