Abstract

This work is concerned with consensus control of nonlinear multi-agent systems with multiplicative noises and time-varying measurement delays. For the general time-varying delays without knowing its differentiability, a Lyapunov function and an integral version of Halanay inequality are applied to obtain the sufficient condition for mean square and almost sure consensus. For the case with the differentiable time-varying delays, a Lyapunov functional is established to get the explicit sufficient consensus conditions. Based on the sufficient conditions, the consentability conditions related to the system parameters are also introduced for the existence of consensus protocols.

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