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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.

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