Passivity based Consensus of Multi-agent Systems with Partly Consensusable Topologies by Admissible Edge-dependent Switching

摘要

Our paper studies consensus problem for multi-agent systems (MASs) by switching topologies based on passivity theory. Especially, novel admissible edge-dependent (AED) switching approach is introduced for dealing with the switching topologies containing consensusable and unconsensusable topologies. By virtue of model transformation, sufficient consensus criteria are derived for achieving guaranteed passivity performance, and desired controllers for MASs are further designed. A numerical example is finally presented for demonstrating usefulness of our established approach.