Extended consensus analysis of multi-agent systems with switching topologies

Abstract

Theoretical analysis of consensus for networked multi-agent systems with switching topologies was conducted. Supposing that information-exchange topologies of networked system are dynamic, a modified linear protocol is proffered which is more practical than existing ones. The definition of trajectory consensus is given and a new consensus protocol is exhibited such that multi-agent system achieves trajectory consensus. In addition, a formation control strategy is designed. A common Lyapunov function is proposed to analyze the consensus convergence of networked multi-agent systems with switching topologies. Simulations are provided to demonstrate the effectiveness of the theoretical results.

Keywords

networked multi-agent systems / consensus problem / switching topologies / M-matrix

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