LAUSR

This paper investigates the leader-following consensus problem for a class of nonlinear delayed multiagent systems with randomly occurring uncertainties and stochastic disturbances under impulsive control inputs. For this class of multi-agent system, we present a novel impulsive control protocol which can effectively reduce the control cost and is easy to implement. Two consensus criteria are derived for ensuring global exponential consensus of nonlinear delayed multi-agent systems under non-uniformly distributed impulsive control signals based on comparison principle and average impulsive interval. Compared with the consensus criteria which are derived by the upper bound or lower bound of the impulse intervals in existing results, the obtained criteria are proved to be easier to be satisfied. Simulation results illustrate the effectiveness of the theoretical results.