2015•Unpublished venueRequires access

Leader-following consensus for multi-agent systems with switching topologies and time-varying delays: A switched system perspective

Yuanye Chen, Yang Shi

Abstract

In this paper, the leader-following consensus problem of multi-agent systems with general linear dynamics and arbitrary switching topologies is considered. The multi-agent system with arbitrary switching topologies is formulated as a switched system. Then the leader-following consensus problem is transformed to a stability problem of the switched system. A necessary and sufficient consensus condition is derived. And this condition is also extended to the multi-agent system with time-varying delays. Numerical examples are provided to illustrate the effectiveness of the proposed results.

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Key concepts: Network topology, Perspective (graphical), Multi-agent system, Consensus, Computer science, Control theory (sociology), Fast switching, Stability (learning theory)