Robust Consensus Control for Leader-Following Multi-agent System under Switching Topologies

The robust consensus problem of leader-following multi-agent system with switching topologies which has been applied in intelligent traffic systems is studied. The main effort is the investigation of uncertain switching system. Assume the information of the leader can not be transferred to all the followers directly, thus the neighbor-based protocols are given to every follower. Under the jointly connected switching topology and observer-based approach, the proof of consensus of multi-agent system is equivalent to the stability of error dynamic system. Based on the Lyapunov function and combining with the Riccati inequality, it is analytically proved that the consensus could be achieved with the uncertain MAS. Simulations are performed to illustrate the effectiveness of presented results.