Consensus in multi-agent systems with second-order dynamics and   non-periodic sampled-data exchange
  In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii functional method, sufficient conditions for stability of the consensus protocol to a time-invariant value are derived. Numerical simulations are presented to corroborate the theoretical results. 
Mehran Zareh, Dimos V. Dimarogonas, Mauro Franceschelli, Karl Henrik   Johansson, and Carla Seatzu
cs.SY