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Mathematical Problems in Engineering
Volume 2013, Article ID 726198, 11 pages
http://dx.doi.org/10.1155/2013/726198
Research Article

Leader-Following Protocol Design for Switched Multiagent Systems with Randomly Occurring Self-Delay

1School of Electrical Engineering, Chungbuk National University, 52 Naesudong-ro, Heungdeok-gu, Cheongju 361-763, Republic of Korea
2Department of Electrical Engineering, Yeungnam University, 214-1 Dae-Dong, Gyeongsan 712-749, Republic of Korea
3School of Electronic Engineering, Daegu University, Gyeongsan 712-714, Republic of Korea
4Department of Biomedical Engineering, School of Medicine, Chungbuk National University, 52 Naesudong-ro, Heungdeok-gu, Cheongju 361-763, Republic of Korea

Received 1 October 2013; Accepted 24 November 2013

Academic Editor: Shuping He

Copyright © 2013 M. J. Park et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper designs a delay-dependent leader-following protocol for multiagent systems with both communication delay and randomly occurring self-delay. Based on the randomly occurring mode of self-delay, a new model of switched multi-agent systems which have not been introduced yet is constructed. By constructing a newly piecewise Lyapunov-Krasovskii functional, a leader-following stability criterion of the switched multi-agent systems is derived by the framework of linear matrix inequalities (LMIs) and the average dwell time with the randomly occurring mode. Based on the result of the derived stability criterion, a designing leader-following protocol for the system will be proposed. One numerical example is included to show the effectiveness of the proposed method.