Consensus of switched multi-agent systems

TL;DR

This paper addresses the consensus problem in switched multi-agent systems combining continuous and discrete dynamics, proposing a linear protocol and proving convergence under various switching topologies using graph and Lyapunov theories.

Contribution

It introduces a novel linear consensus protocol for switched multi-agent systems with mixed dynamics and provides theoretical guarantees for consensus under arbitrary switching.

Findings

Consensus achieved under arbitrary switching

Effective for undirected and directed connected graphs

Validated by simulation examples

Abstract

In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent systems, we propose a linear consensus protocol for switched multi-agent system. Based on the graph theory and Lyapunov theory, we prove that the consensus of switched multi-agent system is solvable under arbitrary switching with undirected connected graph, directed graph and switching topologies, respectively. Simulation examples are also provided to demonstrate the effectiveness of the theoretical results.