Robust Protocol-Based Consensus Control of Time-Varying Uncertain Multiagent Systems Subject to Missing Measurements

Algorithm 1

Algorithm CC.

	Step 1. Set and the terminal condition .
	Step 2. Calculate by (38) firstly, then solve (46), after that the controller parameter can be obtained. Proceed to the next step, otherwise skip to the last step.
	Step 3. Calculate in equation (26). If , move on to the next step, else jump to the last step.
	Step 4. Calculate and in equations (25) and (37), respectively. Let until stop, set back to the second step, else move on to the next step.
	Step 5. If cannot be satisfied, then this algorithm is infeasible. Stop.