Lyapunov-Based Approach to Multiagent Systems With Switching Jointly Connected Interconnection

Abstract

This note addresses a coordination problem of a multiagent system with jointly connected interconnection topologies. Neighbor-based rules are adopted to realize local control strategies for these continuoustime autonomous agents described by double integrators. Although the interagent connection structures vary over time and related graphs may not be connected, a sufficient condition to make all the agents converge to a common value is given for the problem by a proposed Lyapunov-based approach and related space decomposition technique.

Interconnection topologies for multi-agent coordination under leader–follower framework

“…Accordingly, researchers have started focusing their attention on modeling and understanding the cooperative principles of such collective behavior, as well as their potential engineering applications (e.g. [1,5,6,14,17]). …”

Stability Analysis and Implementation of a Decentralized Formation Control Strategy for Unmanned Vehicles

“…In [25], the idea of relative-position-based formation stability was proposed and the Lyapunov method was also used to design the decentralized controllers, along with an extended linear matrix inequality (LMI) to analyze the conditions required for formation stability. Moreover, paper [26] proposed a Lyapunovbased approach to give a sufficient condition to make all the agents converge to a common value, and a common Lyapunov function was explicitly constructed in the case of switching jointly connected topologies. In [27], a combination of the above two strategies was employed, where a few concepts from graph theory were borrowed to evaluate the controllability and observability of the individual system and a vector Lyapunov method was then applied to prove the stability of the multivehicle formation.…”

Robust Output Regulation of Switched Multi-agent Systems

“…One is switching of interconnections of agents, and the other is that each agent is a switched system and the switching takes places between subsystems of an agent. Most results of the output regulation problem of switched multi-agent systems are for the former one, namely, the switching between interconnections of agents [11][12][13]. However, few results about output regulation problem of multi-agent systems whose agents are switched systems have appeared [14].…”