Abstract
This paper studies the delay-dependent consensus problem of heterogeneous multi-agent systems over directed topology. The heterogeneous dynamics consisting of both first-order and second-order agents with random time delay are considered. New distributed control protocols based on the probability distribution of time delay are proposed for the leader-following and leaderless systems. By adopting matrix theory, Lyapunov-Krasovskii function and stochastic analysis, some less conservative conditions for the mean-square consensus are established over directed fixed topology and switching topologies. Moreover, the larger upper bounds of time delay are obtained. Finally, several simulations are presented to illustrate the obtained results.
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