Robust Consensus Tracking of Heterogeneous Multi-Agent Systems under Switching Topologies

摘要

In this paper, we consider a robust consensus tracking problem ofheterogeneous multi-agent systems with time-varying interconnection topologies.Based on common Lyapunov function and internal model techniques, both state andoutput feedback control laws are derived to solve this problem. The proposeddesign is robust by admitting some parameter uncertainties in the multi-agentsystem.