Robust consensus for general second-order multi-agent systems with time-delay and randomly switching topologies

The article studies consensus problem with and without disturbance rejection for general second order multi-agent systems subject to random switching topology and constant time delay. The change of topologies is dominated by continuoustime Markov process. Then the consensus problem is transformed into a stability problem by making use of tree-type transformation. The sufficient conditions of consensus and consensus with H
_∞
performance are gained by establishing linear matrix inequation (LMI). Through solving LMI, we gain the upper bound of delay. Finally, the result were verified by numerical simulation.