Sampled-data consensus of nonlinear multi-agent systems with stochastic disturbances

This paper investigates consensus of nonlinear multi-agent systems with stochastic disturbances. By sampling signals from the leader agent at discrete instants, leader-following consensus in the mean square is achieved based on the theory of Ito stochastic differential equations and Lyapunov-Krasovskii functional stability theory with a sufficient condition derived. Then two special cases: 1) the transmittal delay is very small, which can be approximately regards as zero; 2) the interconnections of agents are undirected are discussed, respectively. Finally, an example is given to verify the effectiveness of the theoretical results.