Consensus in multi-agent systems with non-periodic sampled-data exchange   and uncertain network topology
  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 any time instant. The considered local interaction rule is PD-type. Sufficient conditions for stability of the consensus protocol to a time-invariant value are derived based on LMIs. Such conditions only require the knowledge of the connectivity of the graph modeling the network topology. Numerical simulations are presented to corroborate the theoretical results. 
Mehran Zareh, Dimos V. Dimarogonas, Mauro Franceschelli, Karl Henrik   Johansson, Carla Seatzu
cs.SY