Consensus Of The Second-order Multi-agent Systems With Random Time-delays

Recently,the technology of computers and communication develop rapidly,multi-agent system quickly integrated into various fields,thus attracting the attention of a large number of researchers.Its application fields ranging from distributed sensor array,mobile robots,unmanned air vehicles,etc.Multi-agent system consists of multiple agents,where each agent represents the physical or abstract entity.Each agent can sense the environment and react to others through the communication between the various agents.Those agents work together to complete the task.Multi-agent system has the characteristics of autonomy,Robust and distributed,compared with a single agent.The problem of consensus is one of the hot researches.In this paper,on the basis of predecessors' work,the consensus problem of multi-agent system was studied.The main content of this paper is as follows:(1)The situation of second order multi-agent system in the presence of random communication delays was analyzed,both fixed and switching topologies were discussed.The stability criteria of the network dynamic was analyzed by constructing aproper Lyapunov function.And sufficient conditions for all agents asymptotically achieving the consensus and the upper bounds of the time delay were given in the forms of liner matrix inequality(LMI).(2)The situation of second order multi-agent system with random communication delays was studied,and robust consensus of the fixed and switching topologies were discussed.Based on Lyapunov stability theory,using robust approach,sufficient conditions for all agents asymptotically achieving stability and the H? consensus was given in the forms of liner matrix inequality(LMI).