Nonfragile Tracking Consensus of Stochastic Delayed MASs with Randomly Occurring Nonlinearities and Uncertainties

A distributed nonfragile controller is developed for stochastic delayed multi-agent systems in which nonlinear terms, plant uncertainties, and gain perturbations are activated randomly. The directed topology is assumed to admit a spanning tree whose root is the leader. Each follower uses relative-state data from both the present and delayed instants; this construction is used to obtain asymptotic stochastic tracking in the presence of state and communication delays. For a constant delay, the analysis produces tractable linear-matrix-inequality tests and the corresponding gain matrices. The construction is then adapted to time-varying delays. The predicted tracking behavior is illustrated by two numerical examples.