Distributed Consensus Control of an Interconnected Leader-follower Multiagent System Under Switching Network

In this paper, we further consider the distributed consensus control problem of an interconnected leader-follower multiagent system as in [3] under switching network. The time-varying nature of the communication network leads to a switched closed-loop system. While, the stability of the close-loop system of [3] is established by eigenvalue analysis of the system matrix of the closed-loop system, which cannot be applied to the problem considered in this paper. To overcome this technical difficulty, we have instead resort to a novel Lyapunov theory based stability analysis and shown that the same control law as in [3] can still solve the consensus problem for the interconnected leader-follower multiagent system given that the communication network, though switches from time to time, can be guaranteed all time connected.