Random consensus in nonlinear systems under fixed topology
  This paper investigates the consensus problem in almost sure sense for uncertain multi-agent systems with noises and fixed topology. By combining the tools of stochastic analysis, algebraic graph theory, and matrix theory, we analyze the convergence of a class of distributed stochastic type non-linear protocols. Numerical examples are given to illustrate the results. 
Radha F. Gupta, Poom Kumam
nlin.AO