Rectangular Impulsive Consensus of Multi-agent Systems with Heterogeneous Control Widths

This paper investigates the consensus problem for second-order continuous-time multi-agent systems (MASs) with randomly switching topologies. A novel rectangular impulsive protocol of heterogeneous control widths is developed by utilizing sampled data, which is beneficial for a collection of agents with incongruent actuator capacities. By the model transformation and matrix theories, sufficient conditions, showing that the gains need not to be identical for all agents, and can be selected dependent on the local topology only, are established to guarantee the consensus of systems. A numerical example is delivered to validate the effectiveness of the algorithm.