Consensus of Multiagent Systems with Packet Losses and Communication Delays Using a Novel Control Protocol

Algorithm 1

Initialization of parameters 𝜏_min, 𝑇 and 𝑙;

For 𝑗=1: 𝑙

 Test the Schur stability 𝑀^𝑚_𝑗,𝑀^𝑀_𝑗

  {

  If 𝑀^𝑚_𝑗,𝑀^𝑀_𝑗 is Schur stable

   Break;

  Else

   If 𝑀^𝑜_𝑗 is not Hurwitz stable

     𝑀^𝑚_𝑗,𝑀^𝑀_𝑗 is not stable; break;

   Else

    Decompose 𝑀^𝑚_𝑗,𝑀^𝑀_𝑗;

    Test the Schur stability (each subinterval);

 }

End