Consensus in multi agent systems with second order dynamics and non-periodic sampling time data exchange

In this paper consensus in second-order multi-agent system s with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded intersampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii functional method, sufficient conditions for stability of the consensu s protocol to a time-invariant value are derived. Numerical simulations are presented to corroborate the theoretical results.