Consentability for high-order multi-agent systems under noise environment and time delays

This paper deals with the problem of consensus for high-order multi-agent systems with noises and time delays under undirected topologies. The motivation of the paper is to extend certain consensus results for multi-agent systems in the existing literature to the case of high-order multi-agent systems with noises and the ones with time delays. Based on relative variables of neighbor-agents, new consensus protocols are proposed. By use of the Routh-Hurwitz stability criterion and the Lyapunov theorem, conditions for high-order consensus are derived. Under the proposed consensus protocols, it is shown that the followers can track the leader if the leader is a globally reached node. Simulation examples are provided to illustrate the effectiveness of the proposed results.