pth moment consensus of the disturbed multi-agent systems

In this paper, pth moment leader-following consensus of multi-agent systems (MASs) with additive measurement noises and time-varying communication delays is investigated. A new consensus protocol with a time-varying gain is designed. What's more, a sufficient condition of pth moment consensus of leader-following MASs is also given. Finally, an example is provided to demonstrate the effectiveness of the proposed algorithms.