Consensus of second-order and high-order discrete-time multi-agent systems with random networks

This paper studies the convergence and convergence speed for the second-order and the high-order discrete-time multi-agent systems with random networks and arbitrary weights. Random networks mean that the existence of any edge is probabilistic and independent of any other edge. By introducing the agreement set, velocity control gain and high-order state control gain, some consensus protocols are provided for the discrete-time random networks. Moreover, the per-step and asymptotic convergence factors are proposed to measure the convergence and convergence speed. Some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results. (C) 2011 Elsevier Ltd. All rights reserved.