Average Consensus in Multi-Agent Systems with Non-uniform Time-Varying Delays and Random Packet Losses

Average consensus with delays and data losses is investigated for multi-agent systems with undirected topology. The communication constraints are considered in two aspects: (1) the time-varying delays are non-uniform and bounded; (2) data losses are governed by Bernoulli processes with non-uniform probabilities. We discretize the single-integrator dynamics and convert the consensus problem into its corresponding error dynamics. By assuming symmetry in communication topology, conditions of ensuring the mean square stability are developed, by explicitly incorporating the probabilities of data losses. Simulation is offered to verify the validity of the proposed approach.