Consensus Tracking of Multi-Agent Systems With Directed Switching Topology: A Multiple Lyapunov Functions Method
Guanghui Wen, Wei Xing Zheng · 2018
This paper addresses the consensus tracking problem of multi-agent systems (MASs) with directed switching topologies based on the multiple Lyapunov functions (MLFs) approach. The special feature of Laplacian matrices for topology candidates is explored to construct a new class of MLFs for the tracking error systems of leader-following MASs with directed switching topologies. Then the average dwell time (ADT) method is utilized to establish a sufficient condition that guarantees consensus tracking in the closed-loop MASs. The efficiency of the derived theoretical results and the merits of the proposed MLFs are demonstrated by computer simulations.