Distributed Consensus of Linear Multi-Agent Systems with Switching Directed Topologies

摘要

This paper addresses the distributed consensus problem for a linearmulti-agent system with switching directed communication topologies. Byappropriately introducing a linear transformation, the consensus problem isequivalently converted to a stabilization problem for a class of switchedlinear systems. Some sufficient consensus conditions are then derived by usingtools from the matrix theory and stability analysis of switched systems. It isproved that consensus in such a multi-agent system can be ensured if each agentis stabilizable and each possible directed topology contains a directedspanning tree. Finally, a numerical simulation is given for illustration.