Distributed formation control of multi-agent systems with nonuniform time-delay in stochastic networks

In the paper, It is investigates the distributed formation control for discrete-time multi-agent systems when there exists nonuniform time delay in stochastic networks, which are supposed to change with a Markov chain. The protocols to make the followers form the desired formation while tracking the virtual leader and reaching velocity consensus are designed. The sufficient conditions that the parameters of the proposed protocols satisfy to make the protocol effective are given. It is shown that there is no constraint on the upper bound of communication delay. Finally, the simulation results illustrate the effectiveness of the designed protocols.