  In this paper consensus in second-order multi-agent systems with a
non-periodic sampled-data exchange among agents is investigated. The sampling
is random with bounded inter-sampling intervals. It is assumed that each agent
has exact knowledge of its own state at all times. The considered local
interaction rule is PD-type. The characterization of the convergence properties
exploits a Lyapunov-Krasovskii functional method, sufficient conditions for
stability of the consensus protocol to a time-invariant value are derived.
Numerical simulations are presented to corroborate the theoretical results.
