Hybrid consensus for multi-agent systems with time-driven jumps

TL;DR

This paper analyzes the asymptotic consensus behavior of scalar multi-agent systems with hybrid dynamics involving time-driven jumps, providing explicit conditions and coupling rules for achieving multi-consensus without restrictive assumptions on communication graphs.

Contribution

It introduces a novel characterization of hybrid multi-consensus in multi-agent systems with time-driven jumps, using almost equitable partitions of communication digraphs, without assumptions on the digraphs.

Findings

Explicit characterization of multi-consensus behavior

Conditions for the attractiveness of multi-consensus subspace

Simulation examples validating theoretical results

Abstract

In this paper, the behavior of scalar multi-agent systems over networks subject to time-driven jumps. Assuming that all agents communicate through distinct communication digraphs at jump and flow times, the asymptotic multi-consensus behavior of the hybrid network is explicitly characterized. The hybrid multi-consensus is shown to be associated with a suitable partition that is almost equitable for both the jump and flow communication digraphs. In doing so, no assumption on the underlying digraphs is introduced. Finally, the coupling rules making the multi-consensus subspace attractive are established. Several simulation examples illustrate the theoretical results.