Practical consensus for heterogeneous multi-agent systems with gain fluctuations via resilient sampled-data control

•The random variables are introduced to represent the stochastic nonlinearities in the heterogeneous MAS at any instant of time.•The gain fluctuation and constant signal transmission delay are simultaneously considered in the proposed controller.•For the proposed sampled-data control scheme, the sampling intervals are time-varying and aperiodic.•A novel Lyapunov-Krasovskii functional, including the looped functional and Wirtinger’s inequality based discontinuous term is proposed.•The practical consensus problem for heterogeneous MAS is investigated under fixed topology and it has been extended for the switched case also.