Adaptive Consensus Control of Multiagent Systems With an Unstable High-Dimensional Leader and Switching Topologies

This article addresses an adaptive consensus control problem for heterogeneous multiagent systems (MASs) with switching disconnected topologies. Unlike the existing works on switching disconnected topologies, the unstable high-dimensional leader is first considered in this work. To tackle this problem, we propose a novel blockwise energy descent approach. This approach divides the switching periods into several time blocks and mines the operation laws of agents within these blocks. Then, the descent phenomenon at switching time can be obtained, which can be used to counteract the divergence within the switching periods. Building upon this, we develop a time-varying Lyapunov function to describe the system's dynamics and establish conditions for achieving the output consensus. Finally, we develop a simulation example to confirm the validity of our theoretical results.