Abstract
This work investigates the consensus problem of a linear multi-agent system with relative-state-dependent noises and time delays, where the noises are proportional to the relative states of agents and the delays are time-variant and uniform. The network topology of the information flow between agents is a directed graph. Based on the analysis of stochastic delayed differential equation and Lyapunov stability theory, sufficient conditions for the mean square consensus of the multi-agent system are given by deriving out the upper bounds of delays and the intensities of the noises. Serval numerical simulation examples are shown to verify the effectiveness of the theoretical results.
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